2025-04-29 05:41:25 [info] Event logging started at level debug
2025-04-29 05:41:25 [info] Running: Duet 3 Mini5plus Ethernet: 3.6.0-rc.2+4 (2025-04-17 08:23:50)
2025-04-29 05:41:31 [warn] Started printing file 0:/gcodes/NV00044073A.g
2025-04-29 05:41:31 [debug] File 0:/gcodes/NV00044073A.g selected for printing
2025-04-29 05:41:36 [warn] Warning: Driver 50.0 basic tuning succeeded but measured backlash (1.776 step) is high
2025-04-29 05:41:49 [debug] Stopped at height -0.206 mm
2025-04-29 05:41:49 [debug] Diagnostics for board 50:
2025-04-29 05:41:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:41:49 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,73.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,25.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 16:29:41 ago, cause: software
2025-04-29 05:41:49 [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
2025-04-29 05:41:49 [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
2025-04-29 05:41:49 [debug] Moves scheduled 23858, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 162, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=30, max=345, frequency (Hz): min=1494, max=16666
Sync err accum 61, peak jitter -5/5, peak Rx delay 190, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2756188574 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 31.6C, ma
2025-04-29 05:41:49 [debug] Driver 0: pos -9588, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 8487, writes 1039 timeouts 94
2025-04-29 05:41:49 [debug] Last sensors broadcast 0x00000000 found 0 111 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 410061, send timeouts 0, received 242921, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 37, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36169/37152
2025-04-29 05:41:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10418, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:41:49 [info] currentZPosition:-0.206
2025-04-29 05:41:50 [debug] Stopped at height -0.207 mm
2025-04-29 05:41:50 [debug] Stopped at height -0.206 mm
2025-04-29 05:41:50 [debug] Diagnostics for board 50:
2025-04-29 05:41:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:41:50 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,73.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.5%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 16:29:42 ago, cause: software
2025-04-29 05:41:50 [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
2025-04-29 05:41:50 [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
2025-04-29 05:41:50 [debug] Moves scheduled 23862, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=306, frequency (Hz): min=909, max=15306
Sync err accum 71, peak jitter 1/4, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2755320211 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 31.6C, max 3
2025-04-29 05:41:50 [debug] Driver 0: pos -9589, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 14464, writes 11 timeouts 1
2025-04-29 05:41:50 [debug] Last sensors broadcast 0x00000000 found 0 21 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 71, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 37054/37133
2025-04-29 05:41:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2268
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10401, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:41:51 [info] currentZPosition:-0.206
2025-04-29 05:41:51 [debug] Stopped at height -0.206 mm
2025-04-29 05:41:51 [debug] Diagnostics for board 50:
2025-04-29 05:41:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:41:51 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,73.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.7%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 16:29:43 ago, cause: software
2025-04-29 05:41:51 [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
2025-04-29 05:41:51 [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
2025-04-29 05:41:51 [debug] Moves scheduled 23864, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 160, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=289, frequency (Hz): min=2300, max=15306
Sync err accum 72, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2754686872 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 05:41:51 [debug] Driver 0: pos -9591, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 10540, writes 0 timeouts 0
2025-04-29 05:41:51 [debug] Last sensors broadcast 0x00000000 found 0 113 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 63, send timeouts 0, received 17, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 319, adv 37066/37165
2025-04-29 05:41:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10384, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:41:51 [info] currentZPosition:-0.206
2025-04-29 05:41:52 [debug] Stopped at height -0.206 mm
2025-04-29 05:41:52 [debug] Diagnostics for board 50:
2025-04-29 05:41:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:41:52 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:29:43 ago, cause: software
2025-04-29 05:41:52 [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
2025-04-29 05:41:52 [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
2025-04-29 05:41:52 [debug] Moves scheduled 23866, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 160, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=297, frequency (Hz): min=2077, max=15306
Sync err accum 67, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2754067676 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 31.6C, ma
2025-04-29 05:41:52 [debug] Driver 0: pos -9586, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 10323, writes 0 timeouts 0
2025-04-29 05:41:52 [debug] Last sensors broadcast 0x00000000 found 0 189 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 62, send timeouts 0, received 17, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 330, adv 37127/37129
2025-04-29 05:41:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10383, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2266
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:41:52 [info] currentZPosition:-0.206
2025-04-29 05:41:53 [debug] Diagnostics for board 50:
2025-04-29 05:41:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:41:53 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:29:44 ago, cause: software
2025-04-29 05:41:53 [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
2025-04-29 05:41:53 [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
2025-04-29 05:41:53 [debug] Moves scheduled 23867, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=125, frequency (Hz): min=6521, max=15306
Sync err accum 61, peak jitter -3/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 2753649040 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 05:41:53 [debug] Driver 0: pos -9505, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 7020, writes 0 timeouts 0
2025-04-29 05:41:53 [debug] Last sensors broadcast 0x00000000 found 0 247 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 53, send timeouts 0, received 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 358, adv 37100/37100
2025-04-29 05:41:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2250
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 9859, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4708, no error
Lin: Encoder reverse polarity: no, raw count 2251
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:41:53 [debug] Stopped at height -0.001 mm
2025-04-29 05:41:53 [debug] Diagnostics for board 50:
2025-04-29 05:41:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:41:53 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,73.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,0.2%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,24.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.2%
Owned mutexes:
Last reset 16:29:45 ago, cause: software
2025-04-29 05:41:53 [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
2025-04-29 05:41:53 [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
2025-04-29 05:41:53 [debug] Moves scheduled 23869, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=349, frequency (Hz): min=2586, max=15000
Sync err accum 58, peak jitter -2/-1, peak Rx delay 150, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 2753211469 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 05:41:53 [debug] Driver 0: pos -9601, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 7320, writes 0 timeouts 0
2025-04-29 05:41:53 [debug] Last sensors broadcast 0x00000000 found 0 80 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 55, send timeouts 0, received 16, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 360, adv 37076/37115
2025-04-29 05:41:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10451, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:41:53 [info] currentZPosition:-9.940e-4
2025-04-29 05:41:55 [debug] Stopped at height -0.000 mm
2025-04-29 05:41:55 [debug] Diagnostics for board 50:
2025-04-29 05:41:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:41:55 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:29:46 ago, cause: software
2025-04-29 05:41:55 [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
2025-04-29 05:41:55 [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
2025-04-29 05:41:55 [debug] Moves scheduled 23873, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=625, frequency (Hz): min=623, max=15306
Sync err accum 68, peak jitter 0/3, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 2752181494 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, curr
2025-04-29 05:41:55 [debug] Driver 0: pos -9594, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16240, writes 11 timeouts 1
2025-04-29 05:41:55 [debug] Last sensors broadcast 0x00000000 found 0 203 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 82, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 35628/37104
2025-04-29 05:41:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10366, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:41:55 [info] currentZPosition:-2.982e-4
2025-04-29 05:41:56 [debug] Stopped at height 0.000 mm
2025-04-29 05:41:56 [debug] Diagnostics for board 50:
2025-04-29 05:41:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:41:56 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:29:47 ago, cause: software
2025-04-29 05:41:56 [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
2025-04-29 05:41:56 [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
2025-04-29 05:41:56 [debug] Moves scheduled 23877, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=508, frequency (Hz): min=1728, max=15306
Sync err accum 74, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2751144707 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 31.6C, max 
2025-04-29 05:41:56 [debug] Driver 0: pos -9590, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16091, writes 0 timeouts 0
2025-04-29 05:41:56 [debug] Last sensors broadcast 0x00000000 found 0 87 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 86, 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 374, adv 35669/37151
2025-04-29 05:41:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10324, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2268
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:41:56 [info] currentZPosition:9.940e-5
2025-04-29 05:41:58 [debug] Stopped at height 0.001 mm
2025-04-29 05:41:58 [debug] Diagnostics for board 50:
2025-04-29 05:41:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:41:58 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,72.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,3.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:29:49 ago, cause: software
2025-04-29 05:41:58 [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
2025-04-29 05:41:58 [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
2025-04-29 05:41:58 [debug] Moves scheduled 23881, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=505, frequency (Hz): min=1241, max=15957
Sync err accum 60, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 2749780464 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 05:41:58 [debug] Driver 0: pos -9585, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 22143, writes 0 timeouts 0
2025-04-29 05:41:58 [debug] Last sensors broadcast 0x00000000 found 0 156 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 87, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 35942/37126
2025-04-29 05:41:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10294, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2266
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:41:58 [info] currentZPosition:5.964e-4
2025-04-29 05:41:59 [debug] Stopped at height 0.001 mm
2025-04-29 05:41:59 [debug] Diagnostics for board 50:
2025-04-29 05:41:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:41:59 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:29:51 ago, cause: software
2025-04-29 05:41:59 [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
2025-04-29 05:41:59 [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
2025-04-29 05:41:59 [debug] Moves scheduled 23885, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=636, frequency (Hz): min=1404, max=24193
Sync err accum 65, peak jitter -2/3, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2748600163 ticks, 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
2025-04-29 05:41:59 [debug] Driver 0: pos -9582, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18533, writes 0 timeouts 0
2025-04-29 05:41:59 [debug] Last sensors broadcast 0x00000000 found 0 229 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 84, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36195/37155
2025-04-29 05:41:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10287, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2264
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:42:00 [info] currentZPosition:8.946e-4
2025-04-29 05:42:01 [debug] Stopped at height 0.001 mm
2025-04-29 05:42:01 [debug] Diagnostics for board 50:
2025-04-29 05:42:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:42:01 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:29:52 ago, cause: software
2025-04-29 05:42:01 [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
2025-04-29 05:42:01 [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
2025-04-29 05:42:01 [debug] Moves scheduled 23889, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=806, frequency (Hz): min=1088, max=15625
Sync err accum 76, peak jitter 1/3, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2747583131 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 31.6C, max 
2025-04-29 05:42:01 [debug] Driver 0: pos -9582, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15794, writes 0 timeouts 0
2025-04-29 05:42:01 [debug] Last sensors broadcast 0x00000000 found 0 85 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 83, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36104/37153
2025-04-29 05:42:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2266
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10257, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2268
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:42:01 [info] currentZPosition:8.946e-4
2025-04-29 05:42:02 [debug] Stopped at height 0.000 mm
2025-04-29 05:42:02 [debug] Diagnostics for board 50:
2025-04-29 05:42:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:42:02 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:29:54 ago, cause: software
2025-04-29 05:42:02 [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
2025-04-29 05:42:02 [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
2025-04-29 05:42:02 [debug] Moves scheduled 23893, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 161, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=617, frequency (Hz): min=1473, max=15306
Sync err accum 75, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2746387630 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 31.9C, max
2025-04-29 05:42:02 [debug] Driver 0: pos -9587, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18734, writes 0 timeouts 0
2025-04-29 05:42:02 [debug] Last sensors broadcast 0x00000000 found 0 181 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 88, 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 364, adv 36204/37120
2025-04-29 05:42:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10339, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4707, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:42:02 [info] currentZPosition:3.976e-4
2025-04-29 05:42:04 [debug] Stopped at height 0.001 mm
2025-04-29 05:42:04 [debug] Diagnostics for board 50:
2025-04-29 05:42:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:42:04 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.9%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:29:55 ago, cause: software
2025-04-29 05:42:04 [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
2025-04-29 05:42:04 [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
2025-04-29 05:42:04 [debug] Moves scheduled 23897, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 261, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=653, frequency (Hz): min=867, max=15306
Sync err accum 61, peak jitter -4/-1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 2745373646 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:42:04 [debug] Driver 0: pos -9585, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15675, writes 11 timeouts 1
2025-04-29 05:42:04 [debug] Last sensors broadcast 0x00000000 found 0 32 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 88, 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 400, adv 36164/37075
2025-04-29 05:42:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10293, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2267
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:42:04 [info] currentZPosition:5.964e-4
2025-04-29 05:42:05 [debug] Stopped at height 0.001 mm
2025-04-29 05:42:05 [debug] Diagnostics for board 50:
2025-04-29 05:42:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:42:05 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:29:57 ago, cause: software
2025-04-29 05:42:05 [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
2025-04-29 05:42:05 [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
2025-04-29 05:42:05 [debug] Moves scheduled 23901, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 162, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=558, frequency (Hz): min=1409, max=15625
Sync err accum 66, peak jitter -1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2744184676 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:42:05 [debug] Driver 0: pos -9585, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18612, writes 0 timeouts 0
2025-04-29 05:42:05 [debug] Last sensors broadcast 0x00000000 found 0 118 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 88, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36178/37088
2025-04-29 05:42:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10305, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2267
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:42:05 [info] currentZPosition:5.964e-4
2025-04-29 05:42:07 [debug] Stopped at height -0.000 mm
2025-04-29 05:42:07 [debug] Diagnostics for board 50:
2025-04-29 05:42:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:42:07 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.1%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:29:58 ago, cause: software
2025-04-29 05:42:07 [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
2025-04-29 05:42:07 [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
2025-04-29 05:42:07 [debug] Moves scheduled 23905, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=598, frequency (Hz): min=1461, max=15306
Sync err accum 68, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2743144805 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 05:42:07 [debug] Driver 0: pos -9596, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16027, writes 0 timeouts 0
2025-04-29 05:42:07 [debug] Last sensors broadcast 0x00000000 found 0 4 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 98, 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 385, adv 36072/37151
2025-04-29 05:42:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10377, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:42:07 [info] currentZPosition:-4.970e-4
2025-04-29 05:42:08 [debug] Stopped at height 0.001 mm
2025-04-29 05:42:08 [debug] Diagnostics for board 50:
2025-04-29 05:42:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:42:08 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:30:00 ago, cause: software
2025-04-29 05:42:08 [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
2025-04-29 05:42:08 [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
2025-04-29 05:42:08 [debug] Moves scheduled 23909, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=565, frequency (Hz): min=1378, max=15306
Sync err accum 61, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2741994683 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 31.9C, max
2025-04-29 05:42:08 [debug] Driver 0: pos -9577, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17973, writes 0 timeouts 0
2025-04-29 05:42:08 [debug] Last sensors broadcast 0x00000000 found 0 37 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 84, 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 460, adv 36225/37112
2025-04-29 05:42:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2264
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10237, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4707, no error
Lin: Encoder reverse polarity: no, raw count 2268
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:42:08 [info] currentZPosition:0.00139
2025-04-29 05:42:09 [debug] Stopped at height -0.001 mm
2025-04-29 05:42:10 [debug] Stopped at height 0.000 mm
2025-04-29 05:42:10 [debug] Diagnostics for board 50:
2025-04-29 05:42:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:42:10 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.4%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:30:01 ago, cause: software
2025-04-29 05:42:10 [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
2025-04-29 05:42:10 [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
2025-04-29 05:42:10 [debug] Moves scheduled 23915, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=657, frequency (Hz): min=1358, max=15306
Sync err accum 73, peak jitter 1/3, peak Rx delay 186, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 2740715198 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:42:10 [debug] Driver 0: pos -9591, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 19882, writes 0 timeouts 0
2025-04-29 05:42:10 [debug] Last sensors broadcast 0x00000000 found 0 244 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 117, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36133/37092
2025-04-29 05:42:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10345, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2267
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:42:10 [info] currentZPosition:0.00
2025-04-29 05:42:11 [debug] Stopped at height 0.000 mm
2025-04-29 05:42:11 [debug] Diagnostics for board 50:
2025-04-29 05:42:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:42:11 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.0%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:30:03 ago, cause: software
2025-04-29 05:42:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 05:42:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 05:42:11 [debug] Moves scheduled 23919, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=638, frequency (Hz): min=1260, max=15306
Sync err accum 68, peak jitter -2/0, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 2739698545 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:42:11 [debug] Driver 0: pos -9587, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16151, writes 0 timeouts 0
2025-04-29 05:42:11 [debug] Last sensors broadcast 0x00000000 found 0 100 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 84, 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 402, adv 36213/37155
2025-04-29 05:42:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2265
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10308, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:42:11 [info] currentZPosition:4.970e-4
2025-04-29 05:42:13 [debug] Stopped at height 0.001 mm
2025-04-29 05:42:13 [debug] Diagnostics for board 50:
2025-04-29 05:42:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:42:13 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,8.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:30:04 ago, cause: software
2025-04-29 05:42:13 [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
2025-04-29 05:42:13 [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
2025-04-29 05:42:13 [debug] Moves scheduled 23923, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=489, frequency (Hz): min=825, max=15306
Sync err accum 61, peak jitter -3/1, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2738533712 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 31.9C, max 
2025-04-29 05:42:13 [debug] Driver 0: pos -9579, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17766, writes 11 timeouts 1
2025-04-29 05:42:13 [debug] Last sensors broadcast 0x00000000 found 0 150 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 91, send timeouts 0, received 22, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36173/37114
2025-04-29 05:42:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2268
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10263, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2268
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:42:13 [info] currentZPosition:0.00129
2025-04-29 05:42:14 [debug] Stopped at height 0.001 mm
2025-04-29 05:42:14 [debug] Diagnostics for board 50:
2025-04-29 05:42:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:42:14 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.2%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:30:06 ago, cause: software
2025-04-29 05:42:14 [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
2025-04-29 05:42:14 [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
2025-04-29 05:42:14 [debug] Moves scheduled 23927, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=520, frequency (Hz): min=1396, max=15625
Sync err accum 74, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 2737296429 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:42:14 [debug] Driver 0: pos -9585, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 21247, writes 0 timeouts 0
2025-04-29 05:42:14 [debug] Last sensors broadcast 0x00000000 found 0 164 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 99, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 361, adv 36251/37135
2025-04-29 05:42:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2266
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10279, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:42:15 [info] currentZPosition:6.958e-4
2025-04-29 05:42:17 [debug] Stopped at height 0.001 mm
2025-04-29 05:42:17 [debug] Diagnostics for board 50:
2025-04-29 05:42:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:42:17 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:30:08 ago, cause: software
2025-04-29 05:42:17 [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
2025-04-29 05:42:17 [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
2025-04-29 05:42:17 [debug] Moves scheduled 23931, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=660, frequency (Hz): min=1209, max=15306
Sync err accum 60, peak jitter -3/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 2735332482 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:42:17 [debug] Driver 0: pos -9580, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 30441, writes 0 timeouts 0
2025-04-29 05:42:17 [debug] Last sensors broadcast 0x00000000 found 0 242 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 139, 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 388, adv 36101/37122
2025-04-29 05:42:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2267
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10264, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:42:17 [info] currentZPosition:0.00119
2025-04-29 05:42:19 [debug] Stopped at height 0.000 mm
2025-04-29 05:42:19 [debug] Diagnostics for board 50:
2025-04-29 05:42:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:42:19 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:30:10 ago, cause: software
2025-04-29 05:42:19 [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
2025-04-29 05:42:19 [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
2025-04-29 05:42:19 [debug] Moves scheduled 23935, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=517, frequency (Hz): min=648, max=15306
Sync err accum 68, peak jitter -1/4, peak Rx delay 185, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 2734238572 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:42:19 [debug] Driver 0: pos -9589, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16632, writes 11 timeouts 1
2025-04-29 05:42:19 [debug] Last sensors broadcast 0x00000000 found 0 129 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 89, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36191/37161
2025-04-29 05:42:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10315, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:42:19 [info] currentZPosition:2.982e-4
2025-04-29 05:42:20 [debug] Stopped at height 0.001 mm
2025-04-29 05:42:20 [debug] Diagnostics for board 50:
2025-04-29 05:42:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:42:20 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:30:11 ago, cause: software
2025-04-29 05:42:20 [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
2025-04-29 05:42:20 [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
2025-04-29 05:42:20 [debug] Moves scheduled 23939, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 157, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=629, frequency (Hz): min=614, max=15625
Sync err accum 72, peak jitter 0/1, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2733076678 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 32.1C, max 3
2025-04-29 05:42:20 [debug] Driver 0: pos -9579, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17735, writes 11 timeouts 1
2025-04-29 05:42:20 [debug] Last sensors broadcast 0x00000000 found 0 178 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 92, 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 364, adv 36115/37117
2025-04-29 05:42:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2269
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10291, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:42:20 [info] currentZPosition:0.00119
2025-04-29 05:42:21 [debug] Stopped at height 0.001 mm
2025-04-29 05:42:21 [debug] Diagnostics for board 50:
2025-04-29 05:42:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:42:21 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:30:13 ago, cause: software
2025-04-29 05:42:21 [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
2025-04-29 05:42:21 [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
2025-04-29 05:42:21 [debug] Moves scheduled 23943, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 311, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=644, frequency (Hz): min=1371, max=15306
Sync err accum 59, peak jitter -3/-1, peak Rx delay 210, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2732047927 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatu
2025-04-29 05:42:21 [debug] Driver 0: pos -9582, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16478, writes 0 timeouts 0
2025-04-29 05:42:21 [debug] Last sensors broadcast 0x00000000 found 0 51 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 79, 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 438, adv 36192/37129
2025-04-29 05:42:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10309, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2266
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:42:22 [info] currentZPosition:8.946e-4
2025-04-29 05:42:23 [debug] Stopped at height 0.001 mm
2025-04-29 05:42:23 [debug] Diagnostics for board 50:
2025-04-29 05:42:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:42:23 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:30:14 ago, cause: software
2025-04-29 05:42:23 [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
2025-04-29 05:42:23 [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
2025-04-29 05:42:23 [debug] Moves scheduled 23947, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=597, frequency (Hz): min=812, max=15306
Sync err accum 69, peak jitter -1/3, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2730861882 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 05:42:23 [debug] Driver 0: pos -9585, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18199, writes 11 timeouts 1
2025-04-29 05:42:23 [debug] Last sensors broadcast 0x00000000 found 0 132 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 94, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36093/37096
2025-04-29 05:42:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2267
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10281, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:42:23 [info] currentZPosition:6.958e-4
2025-04-29 05:42:24 [debug] Stopped at height 0.001 mm
2025-04-29 05:42:24 [debug] Diagnostics for board 50:
2025-04-29 05:42:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:42:24 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:30:16 ago, cause: software
2025-04-29 05:42:24 [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
2025-04-29 05:42:24 [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
2025-04-29 05:42:24 [debug] Moves scheduled 23951, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=525, frequency (Hz): min=575, max=15306
Sync err accum 80, peak jitter 1/4, peak Rx delay 188, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 2729850892 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, curr
2025-04-29 05:42:24 [debug] Driver 0: pos -9580, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16177, writes 11 timeouts 1
2025-04-29 05:42:24 [debug] Last sensors broadcast 0x00000000 found 0 230 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 77, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36175/37143
2025-04-29 05:42:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2269
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10291, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2267
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:42:25 [info] currentZPosition:0.00119
2025-04-29 05:42:26 [debug] Stopped at height 0.001 mm
2025-04-29 05:42:26 [debug] Diagnostics for board 50:
2025-04-29 05:42:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:42:26 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:30:17 ago, cause: software
2025-04-29 05:42:26 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 05:42:26 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 05:42:26 [debug] Moves scheduled 23955, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=686, frequency (Hz): min=1297, max=15306
Sync err accum 74, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2728665586 ticks, 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
2025-04-29 05:42:26 [debug] Driver 0: pos -9584, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18221, writes 0 timeouts 0
2025-04-29 05:42:26 [debug] Last sensors broadcast 0x00000000 found 0 61 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 90, 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 455, adv 36122/37162
2025-04-29 05:42:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2268
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10282, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:42:26 [info] currentZPosition:7.952e-4
2025-04-29 05:42:27 [debug] Stopped at height 0.000 mm
2025-04-29 05:42:27 [debug] Diagnostics for board 50:
2025-04-29 05:42:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:42:27 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.3%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:30:19 ago, cause: software
2025-04-29 05:42:27 [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
2025-04-29 05:42:27 [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
2025-04-29 05:42:27 [debug] Moves scheduled 23959, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=572, frequency (Hz): min=1565, max=15306
Sync err accum 59, peak jitter -4/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 2727632703 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 05:42:27 [debug] Driver 0: pos -9587, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16450, writes 0 timeouts 0
2025-04-29 05:42:27 [debug] Last sensors broadcast 0x00000000 found 0 187 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 84, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36235/37128
2025-04-29 05:42:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2268
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10326, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:42:27 [info] currentZPosition:4.970e-4
2025-04-29 05:42:29 [debug] Stopped at height 0.000 mm
2025-04-29 05:42:29 [debug] Diagnostics for board 50:
2025-04-29 05:42:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:42:29 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,68.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,8.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:30:20 ago, cause: software
2025-04-29 05:42:29 [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
2025-04-29 05:42:29 [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
2025-04-29 05:42:29 [debug] Moves scheduled 23963, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=480, frequency (Hz): min=618, max=15306
Sync err accum 70, peak jitter -1/3, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2726441561 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 32.1C, max 
2025-04-29 05:42:29 [debug] Driver 0: pos -9592, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18099, writes 11 timeouts 1
2025-04-29 05:42:29 [debug] Last sensors broadcast 0x00000000 found 0 27 ticks ago, 0 ordering errs, loop time 2
CAN messages queued 104, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36144/37154
2025-04-29 05:42:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10328, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:42:29 [info] currentZPosition:0.00
2025-04-29 05:42:30 [debug] Stopped at height 0.000 mm
2025-04-29 05:42:30 [debug] Diagnostics for board 50:
2025-04-29 05:42:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:42:30 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.7%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:30:22 ago, cause: software
2025-04-29 05:42:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 05:42:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 05:42:30 [debug] Moves scheduled 23967, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 161, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=582, frequency (Hz): min=1612, max=15625
Sync err accum 72, peak jitter -1/2, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 2725413614 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:42:30 [debug] Driver 0: pos -9592, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16354, writes 0 timeouts 0
2025-04-29 05:42:30 [debug] Last sensors broadcast 0x00000000 found 0 146 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 86, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36191/37160
2025-04-29 05:42:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2268
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10361, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:42:30 [info] currentZPosition:9.940e-5
2025-04-29 05:42:32 [debug] Stopped at height -0.000 mm
2025-04-29 05:42:32 [debug] Diagnostics for board 50:
2025-04-29 05:42:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:42:32 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,8.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:30:23 ago, cause: software
2025-04-29 05:42:32 [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
2025-04-29 05:42:32 [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
2025-04-29 05:42:32 [debug] Moves scheduled 23971, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 256, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=457, frequency (Hz): min=1436, max=15625
Sync err accum 62, peak jitter -3/0, peak Rx delay 195, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2724213743 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 32.1C, max
2025-04-29 05:42:32 [debug] Driver 0: pos -9597, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18321, writes 0 timeouts 0
2025-04-29 05:42:32 [debug] Last sensors broadcast 0x00000000 found 0 246 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 107, 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 555, adv 36094/37122
2025-04-29 05:42:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2268
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10368, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:42:32 [info] currentZPosition:-2.982e-4
2025-04-29 05:42:33 [debug] Stopped at height 0.001 mm
2025-04-29 05:42:33 [debug] Diagnostics for board 50:
2025-04-29 05:42:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:42:33 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:30:25 ago, cause: software
2025-04-29 05:42:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 05:42:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 05:42:33 [debug] Moves scheduled 23975, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 465, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=713, frequency (Hz): min=1258, max=15306
Sync err accum 61, peak jitter -2/2, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2723207948 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 32.1C, max
2025-04-29 05:42:33 [debug] Driver 0: pos -9585, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15970, writes 0 timeouts 0
2025-04-29 05:42:33 [debug] Last sensors broadcast 0x00000000 found 0 85 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 80, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36222/37151
2025-04-29 05:42:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2268
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10277, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:42:33 [info] currentZPosition:8.946e-4
2025-04-29 05:42:35 [debug] Stopped at height 0.001 mm
2025-04-29 05:42:35 [debug] Diagnostics for board 50:
2025-04-29 05:42:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:42:35 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:30:26 ago, cause: software
2025-04-29 05:42:35 [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
2025-04-29 05:42:35 [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
2025-04-29 05:42:35 [debug] Moves scheduled 23979, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=510, frequency (Hz): min=811, max=15306
Sync err accum 74, peak jitter 1/4, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2722033439 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 32.1C, max 3
2025-04-29 05:42:35 [debug] Driver 0: pos -9582, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18011, writes 11 timeouts 1
2025-04-29 05:42:35 [debug] Last sensors broadcast 0x00000000 found 0 154 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 94, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36106/37075
2025-04-29 05:42:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10263, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2267
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:42:35 [info] currentZPosition:0.00119
2025-04-29 05:42:36 [debug] Stopped at height 0.001 mm
2025-04-29 05:42:36 [debug] Diagnostics for board 50:
2025-04-29 05:42:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:42:36 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:30:28 ago, cause: software
2025-04-29 05:42:36 [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
2025-04-29 05:42:36 [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
2025-04-29 05:42:36 [debug] Moves scheduled 23983, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=693, frequency (Hz): min=523, max=15625
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 2721013261 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:42:36 [debug] Driver 0: pos -9583, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16270, writes 11 timeouts 1
2025-04-29 05:42:36 [debug] Last sensors broadcast 0x00000000 found 0 12 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 80, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36265/37098
2025-04-29 05:42:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10321, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2266
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:42:36 [info] currentZPosition:0.00109
2025-04-29 05:42:38 [debug] Stopped at height 0.000 mm
2025-04-29 05:42:38 [debug] Diagnostics for board 50:
2025-04-29 05:42:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:42:38 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:30:29 ago, cause: software
2025-04-29 05:42:38 [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
2025-04-29 05:42:38 [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
2025-04-29 05:42:38 [debug] Moves scheduled 23987, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=553, frequency (Hz): min=626, max=15625
Sync err accum 58, peak jitter -3/-1, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2719812424 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 32.1C, max
2025-04-29 05:42:38 [debug] Driver 0: pos -9594, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18330, writes 11 timeouts 1
2025-04-29 05:42:38 [debug] Last sensors broadcast 0x00000000 found 0 113 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 100, 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 459, adv 36073/37130
2025-04-29 05:42:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2269
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10352, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:42:38 [info] currentZPosition:0.00
2025-04-29 05:42:39 [debug] Stopped at height 0.001 mm
2025-04-29 05:42:39 [debug] Diagnostics for board 50:
2025-04-29 05:42:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:42:39 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:30:30 ago, cause: software
2025-04-29 05:42:39 [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
2025-04-29 05:42:39 [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
2025-04-29 05:42:39 [debug] Moves scheduled 23991, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=716, frequency (Hz): min=1227, max=15306
Sync err accum 69, peak jitter 0/3, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2718803417 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:42:39 [debug] Driver 0: pos -9585, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16093, writes 0 timeouts 0
2025-04-29 05:42:39 [debug] Last sensors broadcast 0x00000000 found 0 210 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 82, 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 512, adv 36201/37073
2025-04-29 05:42:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2268
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10270, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:42:39 [info] currentZPosition:8.946e-4
2025-04-29 05:42:41 [debug] Stopped at height 0.001 mm
2025-04-29 05:42:41 [debug] Diagnostics for board 50:
2025-04-29 05:42:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:42:41 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:30:32 ago, cause: software
2025-04-29 05:42:41 [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
2025-04-29 05:42:41 [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
2025-04-29 05:42:41 [debug] Moves scheduled 23995, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=650, frequency (Hz): min=1368, max=15306
Sync err accum 70, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 2717612665 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:42:41 [debug] Driver 0: pos -9588, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18262, writes 0 timeouts 0
2025-04-29 05:42:41 [debug] Last sensors broadcast 0x00000000 found 0 48 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 98, 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 367, adv 36107/37105
2025-04-29 05:42:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10332, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2267
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:42:41 [info] currentZPosition:5.964e-4
2025-04-29 05:42:42 [debug] Stopped at height 0.001 mm
2025-04-29 05:42:42 [debug] Diagnostics for board 50:
2025-04-29 05:42:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:42:42 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:30:33 ago, cause: software
2025-04-29 05:42:42 [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
2025-04-29 05:42:42 [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
2025-04-29 05:42:42 [debug] Moves scheduled 23999, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 328, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=556, frequency (Hz): min=1415, max=15625
Sync err accum 62, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2716596538 ticks, 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
2025-04-29 05:42:42 [debug] Driver 0: pos -9584, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16227, writes 0 timeouts 0
2025-04-29 05:42:42 [debug] Last sensors broadcast 0x00000000 found 0 150 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 77, 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 376, adv 36200/37119
2025-04-29 05:42:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10309, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2267
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:42:42 [info] currentZPosition:9.940e-4
2025-04-29 05:42:44 [debug] Stopped at height 0.001 mm
2025-04-29 05:42:44 [debug] Diagnostics for board 50:
2025-04-29 05:42:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:42:44 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:30:35 ago, cause: software
2025-04-29 05:42:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 05:42:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 05:42:44 [debug] Moves scheduled 24003, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=544, frequency (Hz): min=543, max=15306
Sync err accum 69, peak jitter -1/3, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2715417436 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 32.1C, max 
2025-04-29 05:42:44 [debug] Driver 0: pos -9584, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18137, writes 11 timeouts 1
2025-04-29 05:42:44 [debug] Last sensors broadcast 0x00000000 found 0 224 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 92, 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 396, adv 36045/37119
2025-04-29 05:42:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2269
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10306, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2268
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:42:44 [info] currentZPosition:9.940e-4
2025-04-29 05:42:45 [debug] Stopped at height 0.000 mm
2025-04-29 05:42:45 [debug] Diagnostics for board 50:
2025-04-29 05:42:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:42:45 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.2%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:30:36 ago, cause: software
2025-04-29 05:42:45 [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
2025-04-29 05:42:45 [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
2025-04-29 05:42:45 [debug] Moves scheduled 24007, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=504, frequency (Hz): min=1578, max=15306
Sync err accum 71, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2714383554 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 32.1C, max
2025-04-29 05:42:45 [debug] Driver 0: pos -9589, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16532, writes 0 timeouts 0
2025-04-29 05:42:45 [debug] Last sensors broadcast 0x00000000 found 0 101 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 84, 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 417, adv 36195/37173
2025-04-29 05:42:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2269
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10307, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:42:45 [info] currentZPosition:4.970e-4
2025-04-29 05:42:47 [debug] Stopped at height 0.001 mm
2025-04-29 05:42:47 [debug] Diagnostics for board 50:
2025-04-29 05:42:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:42:47 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:30:38 ago, cause: software
2025-04-29 05:42:47 [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
2025-04-29 05:42:47 [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
2025-04-29 05:42:47 [debug] Moves scheduled 24011, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=666, frequency (Hz): min=773, max=15306
Sync err accum 62, peak jitter -2/0, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 2713205128 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:42:47 [debug] Driver 0: pos -9588, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18068, writes 11 timeouts 1
2025-04-29 05:42:47 [debug] Last sensors broadcast 0x00000000 found 0 172 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 98, 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 367, adv 36128/37118
2025-04-29 05:42:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2268
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10306, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:42:47 [info] currentZPosition:5.964e-4
2025-04-29 05:42:48 [debug] Stopped at height 0.001 mm
2025-04-29 05:42:48 [debug] Diagnostics for board 50:
2025-04-29 05:42:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:42:48 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.3%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:30:39 ago, cause: software
2025-04-29 05:42:48 [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
2025-04-29 05:42:48 [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
2025-04-29 05:42:48 [debug] Moves scheduled 24015, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=548, frequency (Hz): min=1171, max=15625
Sync err accum 70, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2712196770 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 05:42:48 [debug] Driver 0: pos -9581, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16182, writes 0 timeouts 0
2025-04-29 05:42:48 [debug] Last sensors broadcast 0x00000000 found 0 20 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 79, 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 385, adv 36240/37134
2025-04-29 05:42:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2268
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10287, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:42:48 [info] currentZPosition:0.00129
2025-04-29 05:42:50 [debug] Stopped at height 0.001 mm
2025-04-29 05:42:50 [debug] Diagnostics for board 50:
2025-04-29 05:42:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:42:50 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:30:41 ago, cause: software
2025-04-29 05:42:50 [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
2025-04-29 05:42:50 [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
2025-04-29 05:42:50 [debug] Moves scheduled 24019, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 385, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=626, frequency (Hz): min=1351, max=15306
Sync err accum 67, peak jitter -2/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2711007219 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 32.1C, max
2025-04-29 05:42:50 [debug] Driver 0: pos -9587, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18228, writes 0 timeouts 0
2025-04-29 05:42:50 [debug] Last sensors broadcast 0x00000000 found 0 102 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 94, 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 633, adv 36087/37126
2025-04-29 05:42:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2266
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10316, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:42:50 [info] currentZPosition:6.958e-4
2025-04-29 05:42:51 [debug] Stopped at height -0.000 mm
2025-04-29 05:42:51 [debug] Diagnostics for board 50:
2025-04-29 05:42:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:42:51 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:30:42 ago, cause: software
2025-04-29 05:42:51 [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
2025-04-29 05:42:51 [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
2025-04-29 05:42:51 [debug] Moves scheduled 24023, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 342, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=804, frequency (Hz): min=1035, max=15625
Sync err accum 65, peak jitter -2/2, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2709962336 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 32.1C, max
2025-04-29 05:42:51 [debug] Driver 0: pos -9598, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16703, writes 0 timeouts 0
2025-04-29 05:42:51 [debug] Last sensors broadcast 0x00000000 found 0 248 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 94, 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 359, adv 36231/37126
2025-04-29 05:42:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10371, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:42:51 [info] currentZPosition:-2.982e-4
2025-04-29 05:42:52 [debug] Stopped at height 0.001 mm
2025-04-29 05:42:52 [debug] Diagnostics for board 50:
2025-04-29 05:42:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:42:52 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,8.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:30:44 ago, cause: software
2025-04-29 05:42:52 [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
2025-04-29 05:42:52 [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
2025-04-29 05:42:52 [debug] Moves scheduled 24027, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 768, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=540, frequency (Hz): min=1146, max=15306
Sync err accum 70, peak jitter -1/2, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2708798690 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 32.2C, max
2025-04-29 05:42:52 [debug] Driver 0: pos -9587, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17790, writes 0 timeouts 0
2025-04-29 05:42:52 [debug] Last sensors broadcast 0x00000000 found 0 52 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 95, 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 386, adv 36073/37131
2025-04-29 05:42:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10323, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4710, no error
Lin: Encoder reverse polarity: no, raw count 2267
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:42:53 [info] currentZPosition:7.952e-4
2025-04-29 05:42:54 [debug] Stopped at height 0.001 mm
2025-04-29 05:42:54 [debug] Diagnostics for board 50:
2025-04-29 05:42:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:42:54 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:30:45 ago, cause: software
2025-04-29 05:42:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 05:42:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 05:42:54 [debug] Moves scheduled 24031, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 323, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=856, frequency (Hz): min=749, max=15306
Sync err accum 62, peak jitter -3/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2707777019 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 32.2C, max 
2025-04-29 05:42:54 [debug] Driver 0: pos -9586, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16291, writes 11 timeouts 1
2025-04-29 05:42:54 [debug] Last sensors broadcast 0x00000000 found 0 160 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 76, 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 389, adv 36203/37088
2025-04-29 05:42:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10305, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:42:54 [info] currentZPosition:8.946e-4
2025-04-29 05:42:55 [debug] Stopped at height 0.001 mm
2025-04-29 05:42:55 [debug] Diagnostics for board 50:
2025-04-29 05:42:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:42:55 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:30:47 ago, cause: software
2025-04-29 05:42:55 [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
2025-04-29 05:42:55 [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
2025-04-29 05:42:55 [debug] Moves scheduled 24035, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=522, frequency (Hz): min=1494, max=15306
Sync err accum 67, peak jitter -1/3, peak Rx delay 186, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2706605631 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 32.2C, max
2025-04-29 05:42:55 [debug] Driver 0: pos -9581, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17926, writes 0 timeouts 0
2025-04-29 05:42:55 [debug] Last sensors broadcast 0x00000000 found 0 222 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 92, 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 381, adv 36103/37145
2025-04-29 05:42:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2266
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10261, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:42:56 [info] currentZPosition:0.00139
2025-04-29 05:42:57 [debug] Stopped at height 0.000 mm
2025-04-29 05:42:57 [debug] Diagnostics for board 50:
2025-04-29 05:42:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:42:57 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:30:48 ago, cause: software
2025-04-29 05:42:57 [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
2025-04-29 05:42:57 [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
2025-04-29 05:42:57 [debug] Moves scheduled 24039, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=637, frequency (Hz): min=503, max=15306
Sync err accum 73, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2705567726 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 32.2C, max 3
2025-04-29 05:42:57 [debug] Driver 0: pos -9590, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16580, writes 11 timeouts 1
2025-04-29 05:42:57 [debug] Last sensors broadcast 0x00000000 found 0 107 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 82, 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 383, adv 36206/37134
2025-04-29 05:42:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10344, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2268
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:42:57 [info] currentZPosition:4.970e-4
2025-04-29 05:42:58 [debug] Stopped at height 0.001 mm
2025-04-29 05:42:58 [debug] Diagnostics for board 50:
2025-04-29 05:42:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:42:58 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,8.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.2%
Owned mutexes:
Last reset 16:30:50 ago, cause: software
2025-04-29 05:42:58 [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
2025-04-29 05:42:58 [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
2025-04-29 05:42:58 [debug] Moves scheduled 24043, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 319, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=678, frequency (Hz): min=1348, max=15306
Sync err accum 65, peak jitter -2/0, peak Rx delay 186, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2704387752 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 32.5C, max
2025-04-29 05:42:58 [debug] Driver 0: pos -9589, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18020, writes 0 timeouts 0
2025-04-29 05:42:58 [debug] Last sensors broadcast 0x00000000 found 0 179 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 94, 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 373, adv 36097/37119
2025-04-29 05:42:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10334, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2268
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:42:58 [info] currentZPosition:5.964e-4
2025-04-29 05:43:00 [debug] Stopped at height 0.001 mm
2025-04-29 05:43:00 [debug] Diagnostics for board 50:
2025-04-29 05:43:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:43:00 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:30:51 ago, cause: software
2025-04-29 05:43:00 [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
2025-04-29 05:43:00 [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
2025-04-29 05:43:00 [debug] Moves scheduled 24047, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 164, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=720, frequency (Hz): min=1136, max=15625
Sync err accum 60, peak jitter -2/1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2703371256 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 32.5C, max
2025-04-29 05:43:00 [debug] Driver 0: pos -9586, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16263, writes 0 timeouts 0
2025-04-29 05:43:00 [debug] Last sensors broadcast 0x00000000 found 0 37 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 79, 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 366, adv 36219/37120
2025-04-29 05:43:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10329, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4707, no error
Lin: Encoder reverse polarity: no, raw count 2267
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:43:00 [info] currentZPosition:8.946e-4
2025-04-29 05:43:01 [debug] Stopped at height -0.000 mm
2025-04-29 05:43:01 [debug] Diagnostics for board 50:
2025-04-29 05:43:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:43:01 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:30:53 ago, cause: software
2025-04-29 05:43:01 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 05:43:01 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 05:43:01 [debug] Moves scheduled 24051, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=525, frequency (Hz): min=810, max=15306
Sync err accum 73, peak jitter 0/3, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2702159311 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 32.5C, max 3
2025-04-29 05:43:01 [debug] Driver 0: pos -9601, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18508, writes 11 timeouts 1
2025-04-29 05:43:01 [debug] Last sensors broadcast 0x00000000 found 0 153 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 105, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 392, adv 36066/37139
2025-04-29 05:43:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2269
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10380, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:43:01 [info] currentZPosition:-4.970e-4
2025-04-29 05:43:02 [debug] Stopped at height -0.000 mm
2025-04-29 05:43:03 [debug] Stopped at height -0.001 mm
2025-04-29 05:43:03 [debug] Diagnostics for board 50:
2025-04-29 05:43:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:43:03 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.7%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:30:54 ago, cause: software
2025-04-29 05:43:03 [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
2025-04-29 05:43:03 [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
2025-04-29 05:43:03 [debug] Moves scheduled 24057, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 624, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=601, frequency (Hz): min=794, max=15625
Sync err accum 68, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 2700885738 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:43:03 [debug] Driver 0: pos -9606, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20231, writes 11 timeouts 1
2025-04-29 05:43:03 [debug] Last sensors broadcast 0x00000000 found 0 101 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 113, 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 398, adv 36170/37122
2025-04-29 05:43:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10398, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:43:03 [info] currentZPosition:-9.940e-4
2025-04-29 05:43:05 [debug] Stopped at height 0.001 mm
2025-04-29 05:43:05 [debug] Diagnostics for board 50:
2025-04-29 05:43:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:43:05 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,68.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,8.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:30:56 ago, cause: software
2025-04-29 05:43:05 [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
2025-04-29 05:43:05 [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
2025-04-29 05:43:05 [debug] Moves scheduled 24061, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=590, frequency (Hz): min=1540, max=15306
Sync err accum 58, peak jitter -3/0, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 2699730356 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:43:05 [debug] Driver 0: pos -9591, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17479, writes 0 timeouts 0
2025-04-29 05:43:05 [debug] Last sensors broadcast 0x00000000 found 0 140 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 96, 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 368, adv 36088/37171
2025-04-29 05:43:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2267
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10313, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:43:05 [info] currentZPosition:5.964e-4
2025-04-29 05:43:05 [debug] Stopped at height 0.000 mm
2025-04-29 05:43:06 [debug] Stopped at height 0.001 mm
2025-04-29 05:43:06 [debug] Diagnostics for board 50:
2025-04-29 05:43:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:43:06 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.3%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:30:58 ago, cause: software
2025-04-29 05:43:06 [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
2025-04-29 05:43:06 [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
2025-04-29 05:43:06 [debug] Moves scheduled 24067, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 733, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=690, frequency (Hz): min=1143, max=15306
Sync err accum 74, peak jitter 1/4, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2698472715 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 32.5C, max 
2025-04-29 05:43:06 [debug] Driver 0: pos -9591, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20085, writes 0 timeouts 0
2025-04-29 05:43:06 [debug] Last sensors broadcast 0x00000000 found 0 67 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 100, 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 378, adv 36228/37160
2025-04-29 05:43:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10326, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:43:06 [info] currentZPosition:5.964e-4
2025-04-29 05:43:08 [debug] Stopped at height -0.000 mm
2025-04-29 05:43:08 [debug] Diagnostics for board 50:
2025-04-29 05:43:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:43:08 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,68.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,8.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:30:59 ago, cause: software
2025-04-29 05:43:08 [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
2025-04-29 05:43:08 [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
2025-04-29 05:43:08 [debug] Moves scheduled 24071, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=689, frequency (Hz): min=1308, max=15306
Sync err accum 74, peak jitter -1/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2697271342 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 32.5C, max
2025-04-29 05:43:08 [debug] Driver 0: pos -9600, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18262, writes 0 timeouts 0
2025-04-29 05:43:08 [debug] Last sensors broadcast 0x00000000 found 0 170 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 113, 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 396, adv 36129/37122
2025-04-29 05:43:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10367, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:43:08 [info] currentZPosition:-2.982e-4
2025-04-29 05:43:09 [debug] Stopped at height 0.000 mm
2025-04-29 05:43:09 [debug] Diagnostics for board 50:
2025-04-29 05:43:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:43:09 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.2%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:31:01 ago, cause: software
2025-04-29 05:43:09 [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
2025-04-29 05:43:09 [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
2025-04-29 05:43:09 [debug] Moves scheduled 24075, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 420, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=604, frequency (Hz): min=1476, max=15625
Sync err accum 63, peak jitter -2/-1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2696253643 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 32.5C, ma
2025-04-29 05:43:09 [debug] Driver 0: pos -9593, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16101, writes 0 timeouts 0
2025-04-29 05:43:09 [debug] Last sensors broadcast 0x00000000 found 0 24 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 87, 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 636, adv 36252/37118
2025-04-29 05:43:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2269
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10341, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:43:09 [info] currentZPosition:3.976e-4
2025-04-29 05:43:11 [debug] Stopped at height 0.001 mm
2025-04-29 05:43:11 [debug] Diagnostics for board 50:
2025-04-29 05:43:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:43:11 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:31:02 ago, cause: software
2025-04-29 05:43:11 [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
2025-04-29 05:43:11 [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
2025-04-29 05:43:11 [debug] Moves scheduled 24079, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=612, frequency (Hz): min=519, max=15306
Sync err accum 67, peak jitter -1/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 2695084043 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:43:11 [debug] Driver 0: pos -9586, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17916, writes 11 timeouts 1
2025-04-29 05:43:11 [debug] Last sensors broadcast 0x00000000 found 0 86 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 89, 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 360, adv 36108/37167
2025-04-29 05:43:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10302, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2266
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:43:11 [info] currentZPosition:0.00119
2025-04-29 05:43:12 [debug] Stopped at height 0.001 mm
2025-04-29 05:43:12 [debug] Diagnostics for board 50:
2025-04-29 05:43:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:43:12 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:31:03 ago, cause: software
2025-04-29 05:43:12 [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
2025-04-29 05:43:12 [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
2025-04-29 05:43:12 [debug] Moves scheduled 24083, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=548, frequency (Hz): min=1439, max=15306
Sync err accum 65, peak jitter -1/0, peak Rx delay 185, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2694057263 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 32.5C, max
2025-04-29 05:43:12 [debug] Driver 0: pos -9587, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16429, writes 0 timeouts 0
2025-04-29 05:43:12 [debug] Last sensors broadcast 0x00000000 found 0 204 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 79, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36255/37128
2025-04-29 05:43:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10339, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4707, no error
Lin: Encoder reverse polarity: no, raw count 2267
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:43:12 [info] currentZPosition:0.00109
2025-04-29 05:43:14 [debug] Stopped at height 0.000 mm
2025-04-29 05:43:14 [debug] Diagnostics for board 50:
2025-04-29 05:43:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:43:14 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,68.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,8.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:31:05 ago, cause: software
2025-04-29 05:43:14 [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
2025-04-29 05:43:14 [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
2025-04-29 05:43:14 [debug] Moves scheduled 24087, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=704, frequency (Hz): min=509, max=15625
Sync err accum 63, peak jitter -1/1, peak Rx delay 207, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2692861814 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 32.5C, max 
2025-04-29 05:43:14 [debug] Driver 0: pos -9594, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18118, writes 22 timeouts 2
2025-04-29 05:43:14 [debug] Last sensors broadcast 0x00000000 found 0 48 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 100, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36072/37115
2025-04-29 05:43:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10326, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:43:14 [info] currentZPosition:3.976e-4
2025-04-29 05:43:15 [debug] Stopped at height 0.001 mm
2025-04-29 05:43:15 [debug] Diagnostics for board 50:
2025-04-29 05:43:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:43:15 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.6%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:31:06 ago, cause: software
2025-04-29 05:43:15 [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
2025-04-29 05:43:15 [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
2025-04-29 05:43:15 [debug] Moves scheduled 24091, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=593, frequency (Hz): min=1213, max=15306
Sync err accum 65, peak jitter 0/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 2691854281 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:43:15 [debug] Driver 0: pos -9586, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16065, writes 0 timeouts 0
2025-04-29 05:43:15 [debug] Last sensors broadcast 0x00000000 found 0 141 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 79, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36193/37128
2025-04-29 05:43:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10281, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2268
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:43:15 [info] currentZPosition:0.00119
2025-04-29 05:43:17 [debug] Stopped at height 0.001 mm
2025-04-29 05:43:17 [debug] Diagnostics for board 50:
2025-04-29 05:43:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:43:17 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,68.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,8.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.7%
Owned mutexes:
Last reset 16:31:08 ago, cause: software
2025-04-29 05:43:17 [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
2025-04-29 05:43:17 [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
2025-04-29 05:43:17 [debug] Moves scheduled 24095, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 309, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=509, frequency (Hz): min=625, max=15306
Sync err accum 64, peak jitter -1/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2690664711 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 05:43:17 [debug] Driver 0: pos -9592, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18090, writes 22 timeouts 2
2025-04-29 05:43:17 [debug] Last sensors broadcast 0x00000000 found 0 227 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 102, 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 367, adv 36094/37100
2025-04-29 05:43:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10329, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:43:17 [info] currentZPosition:5.964e-4
2025-04-29 05:43:18 [debug] Stopped at height 0.001 mm
2025-04-29 05:43:18 [debug] Diagnostics for board 50:
2025-04-29 05:43:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:43:18 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.8%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.3%
Owned mutexes:
Last reset 16:31:09 ago, cause: software
2025-04-29 05:43:18 [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
2025-04-29 05:43:18 [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
2025-04-29 05:43:18 [debug] Moves scheduled 24099, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=593, frequency (Hz): min=1221, max=15306
Sync err accum 63, peak jitter -2/2, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2689654814 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 32.5C, max
2025-04-29 05:43:18 [debug] Driver 0: pos -9583, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16091, writes 0 timeouts 0
2025-04-29 05:43:18 [debug] Last sensors broadcast 0x00000000 found 0 74 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 79, 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 480, adv 36222/37082
2025-04-29 05:43:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2269
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10305, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4711, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:43:18 [info] currentZPosition:0.00149
2025-04-29 05:43:20 [debug] Stopped at height 0.002 mm
2025-04-29 05:43:20 [debug] Diagnostics for board 50:
2025-04-29 05:43:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:43:20 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:31:11 ago, cause: software
2025-04-29 05:43:20 [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
2025-04-29 05:43:20 [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
2025-04-29 05:43:20 [debug] Moves scheduled 24103, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=650, frequency (Hz): min=1308, max=15306
Sync err accum 63, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2688476582 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:43:20 [debug] Driver 0: pos -9581, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18074, writes 0 timeouts 0
2025-04-29 05:43:20 [debug] Last sensors broadcast 0x00000000 found 0 145 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 97, 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 355, adv 36126/37162
2025-04-29 05:43:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2267
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10276, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:43:20 [info] currentZPosition:0.00169
2025-04-29 05:43:21 [debug] Stopped at height 0.000 mm
2025-04-29 05:43:21 [debug] Diagnostics for board 50:
2025-04-29 05:43:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:43:21 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:31:12 ago, cause: software
2025-04-29 05:43:21 [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
2025-04-29 05:43:21 [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
2025-04-29 05:43:21 [debug] Moves scheduled 24107, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 309, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=606, frequency (Hz): min=1190, max=15306
Sync err accum 64, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2687427477 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 32.5C, max 
2025-04-29 05:43:21 [debug] Driver 0: pos -9594, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16802, writes 0 timeouts 0
2025-04-29 05:43:21 [debug] Last sensors broadcast 0x00000000 found 0 42 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 89, 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 456, adv 36211/37103
2025-04-29 05:43:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2268
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10336, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:43:21 [info] currentZPosition:3.976e-4
2025-04-29 05:43:21 [debug] Stopped at height -0.001 mm
2025-04-29 05:43:23 [debug] Stopped at height 0.001 mm
2025-04-29 05:43:23 [debug] Diagnostics for board 50:
2025-04-29 05:43:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:43:23 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:31:14 ago, cause: software
2025-04-29 05:43:23 [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
2025-04-29 05:43:23 [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
2025-04-29 05:43:23 [debug] Moves scheduled 24113, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=537, frequency (Hz): min=620, max=15306
Sync err accum 66, peak jitter -2/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2686008102 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 05:43:23 [debug] Driver 0: pos -9591, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 21857, writes 11 timeouts 1
2025-04-29 05:43:23 [debug] Last sensors broadcast 0x00000000 found 0 186 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 118, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36138/37129
2025-04-29 05:43:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2268
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10326, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:43:23 [info] currentZPosition:6.958e-4
2025-04-29 05:43:24 [debug] Stopped at height 0.001 mm
2025-04-29 05:43:24 [debug] Diagnostics for board 50:
2025-04-29 05:43:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:43:24 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.5%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.0%
Owned mutexes:
Last reset 16:31:16 ago, cause: software
2025-04-29 05:43:24 [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
2025-04-29 05:43:24 [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
2025-04-29 05:43:24 [debug] Moves scheduled 24117, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=600, frequency (Hz): min=1442, max=15625
Sync err accum 68, peak jitter 0/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 2684995447 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:43:24 [debug] Driver 0: pos -9586, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16179, writes 0 timeouts 0
2025-04-29 05:43:24 [debug] Last sensors broadcast 0x00000000 found 0 36 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 80, 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 380, adv 36217/37121
2025-04-29 05:43:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2267
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10268, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:43:24 [info] currentZPosition:0.00119
2025-04-29 05:43:26 [debug] Stopped at height 0.000 mm
2025-04-29 05:43:26 [debug] Diagnostics for board 50:
2025-04-29 05:43:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:43:26 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:31:17 ago, cause: software
2025-04-29 05:43:26 [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
2025-04-29 05:43:26 [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
2025-04-29 05:43:26 [debug] Moves scheduled 24121, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=497, frequency (Hz): min=1578, max=15306
Sync err accum 60, peak jitter -2/0, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2683795113 ticks, 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
2025-04-29 05:43:26 [debug] Driver 0: pos -9596, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18462, writes 0 timeouts 0
2025-04-29 05:43:26 [debug] Last sensors broadcast 0x00000000 found 0 136 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 100, 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 380, adv 36097/37118
2025-04-29 05:43:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10354, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:43:26 [info] currentZPosition:1.988e-4
2025-04-29 05:43:27 [debug] Stopped at height 0.001 mm
2025-04-29 05:43:27 [debug] Diagnostics for board 50:
2025-04-29 05:43:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:43:27 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:31:19 ago, cause: software
2025-04-29 05:43:27 [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
2025-04-29 05:43:27 [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
2025-04-29 05:43:27 [debug] Moves scheduled 24125, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 166, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=538, frequency (Hz): min=1445, max=15625
Sync err accum 69, peak jitter 0/4, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2682689316 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:43:27 [debug] Driver 0: pos -9586, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17569, writes 0 timeouts 0
2025-04-29 05:43:27 [debug] Last sensors broadcast 0x00000000 found 0 110 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 88, send timeouts 0, received 22, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36191/37160
2025-04-29 05:43:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2268
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10267, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4707, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:43:27 [info] currentZPosition:0.00119
2025-04-29 05:43:29 [debug] Stopped at height 0.001 mm
2025-04-29 05:43:29 [debug] Diagnostics for board 50:
2025-04-29 05:43:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:43:29 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:31:20 ago, cause: software
2025-04-29 05:43:29 [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
2025-04-29 05:43:29 [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
2025-04-29 05:43:29 [debug] Moves scheduled 24129, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=580, frequency (Hz): min=1527, max=15306
Sync err accum 62, peak jitter -2/0, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2681506670 ticks, 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
2025-04-29 05:43:29 [debug] Driver 0: pos -9587, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18121, writes 0 timeouts 0
2025-04-29 05:43:29 [debug] Last sensors broadcast 0x00000000 found 0 186 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 98, 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 376, adv 36176/37144
2025-04-29 05:43:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10320, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2267
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:43:29 [info] currentZPosition:0.00109
2025-04-29 05:43:30 [debug] Stopped at height 0.001 mm
2025-04-29 05:43:30 [debug] Diagnostics for board 50:
2025-04-29 05:43:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:43:30 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:31:22 ago, cause: software
2025-04-29 05:43:30 [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
2025-04-29 05:43:30 [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
2025-04-29 05:43:30 [debug] Moves scheduled 24133, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 162, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=640, frequency (Hz): min=670, max=15625
Sync err accum 69, peak jitter 0/2, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2680497037 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 32.5C, max 3
2025-04-29 05:43:30 [debug] Driver 0: pos -9584, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16187, writes 11 timeouts 1
2025-04-29 05:43:30 [debug] Last sensors broadcast 0x00000000 found 0 37 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 78, 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 418, adv 36246/37087
2025-04-29 05:43:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10290, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2266
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:43:30 [info] currentZPosition:0.00139
2025-04-29 05:43:32 [debug] Stopped at height 0.002 mm
2025-04-29 05:43:32 [debug] Diagnostics for board 50:
2025-04-29 05:43:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:43:32 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:31:23 ago, cause: software
2025-04-29 05:43:32 [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
2025-04-29 05:43:32 [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
2025-04-29 05:43:32 [debug] Moves scheduled 24137, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=757, frequency (Hz): min=1168, max=15306
Sync err accum 74, peak jitter 0/1, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2679320958 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 32.5C, max 
2025-04-29 05:43:32 [debug] Driver 0: pos -9580, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18126, writes 0 timeouts 0
2025-04-29 05:43:32 [debug] Last sensors broadcast 0x00000000 found 0 101 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 91, 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 375, adv 36136/37139
2025-04-29 05:43:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10289, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:43:32 [info] currentZPosition:0.00179
2025-04-29 05:43:33 [debug] Stopped at height 0.001 mm
2025-04-29 05:43:33 [debug] Diagnostics for board 50:
2025-04-29 05:43:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:43:33 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,3.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:31:24 ago, cause: software
2025-04-29 05:43:33 [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
2025-04-29 05:43:33 [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
2025-04-29 05:43:33 [debug] Moves scheduled 24141, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 318, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=564, frequency (Hz): min=1453, max=15306
Sync err accum 71, peak jitter -1/0, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2678277611 ticks, 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
2025-04-29 05:43:33 [debug] Driver 0: pos -9591, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16746, writes 0 timeouts 0
2025-04-29 05:43:33 [debug] Last sensors broadcast 0x00000000 found 0 243 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 81, 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 410, adv 36183/37092
2025-04-29 05:43:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10324, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:43:33 [info] currentZPosition:6.958e-4
2025-04-29 05:43:35 [debug] Stopped at height 0.001 mm
2025-04-29 05:43:35 [debug] Diagnostics for board 50:
2025-04-29 05:43:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:43:35 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:31:26 ago, cause: software
2025-04-29 05:43:35 [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
2025-04-29 05:43:35 [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
2025-04-29 05:43:35 [debug] Moves scheduled 24145, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 161, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=784, frequency (Hz): min=798, max=15306
Sync err accum 60, peak jitter -3/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2677106005 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 05:43:35 [debug] Driver 0: pos -9587, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17977, writes 11 timeouts 1
2025-04-29 05:43:35 [debug] Last sensors broadcast 0x00000000 found 0 62 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 104, 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 375, adv 36108/37117
2025-04-29 05:43:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10313, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2267
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:43:35 [info] currentZPosition:0.00109
2025-04-29 05:43:36 [debug] Stopped at height 0.001 mm
2025-04-29 05:43:36 [debug] Diagnostics for board 50:
2025-04-29 05:43:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:43:36 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:31:27 ago, cause: software
2025-04-29 05:43:36 [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
2025-04-29 05:43:36 [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
2025-04-29 05:43:36 [debug] Moves scheduled 24149, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=664, frequency (Hz): min=1101, max=15306
Sync err accum 70, peak jitter 0/3, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 2676066706 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:43:36 [debug] Driver 0: pos -9591, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16524, writes 0 timeouts 0
2025-04-29 05:43:36 [debug] Last sensors broadcast 0x00000000 found 0 190 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 86, 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 380, adv 36184/37108
2025-04-29 05:43:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10353, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:43:36 [info] currentZPosition:6.958e-4
2025-04-29 05:43:38 [debug] Stopped at height 0.001 mm
2025-04-29 05:43:38 [debug] Diagnostics for board 50:
2025-04-29 05:43:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:43:38 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:31:29 ago, cause: software
2025-04-29 05:43:38 [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
2025-04-29 05:43:38 [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
2025-04-29 05:43:38 [debug] Moves scheduled 24153, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 359, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=864, frequency (Hz): min=1102, max=28846
Sync err accum 72, peak jitter -1/2, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 2674885775 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:43:38 [debug] Driver 0: pos -9592, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18116, writes 0 timeouts 0
2025-04-29 05:43:38 [debug] Last sensors broadcast 0x00000000 found 0 16 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 104, 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 369, adv 36134/37103
2025-04-29 05:43:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10351, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:43:38 [info] currentZPosition:6.958e-4
2025-04-29 05:43:39 [debug] Stopped at height 0.001 mm
2025-04-29 05:43:39 [debug] Diagnostics for board 50:
2025-04-29 05:43:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:43:39 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.5%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:31:30 ago, cause: software
2025-04-29 05:43:39 [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
2025-04-29 05:43:39 [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
2025-04-29 05:43:39 [debug] Moves scheduled 24157, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 262, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=717, frequency (Hz): min=1239, max=15306
Sync err accum 62, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2673868290 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 32.5C, ma
2025-04-29 05:43:39 [debug] Driver 0: pos -9586, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16238, writes 0 timeouts 0
2025-04-29 05:43:39 [debug] Last sensors broadcast 0x00000000 found 0 124 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 84, 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 361, adv 36232/37121
2025-04-29 05:43:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2269
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10306, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2266
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:43:39 [info] currentZPosition:0.00129
2025-04-29 05:43:41 [debug] Stopped at height 0.001 mm
2025-04-29 05:43:41 [debug] Diagnostics for board 50:
2025-04-29 05:43:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:43:41 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:31:32 ago, cause: software
2025-04-29 05:43:41 [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
2025-04-29 05:43:41 [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
2025-04-29 05:43:41 [debug] Moves scheduled 24161, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 174, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=680, frequency (Hz): min=633, max=15306
Sync err accum 68, peak jitter -1/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 2672677500 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:43:41 [debug] Driver 0: pos -9589, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18184, writes 11 timeouts 1
2025-04-29 05:43:41 [debug] Last sensors broadcast 0x00000000 found 0 210 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 92, 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 461, adv 36099/37113
2025-04-29 05:43:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10316, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2268
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:43:41 [info] currentZPosition:9.940e-4
2025-04-29 05:43:42 [debug] Stopped at height 0.002 mm
2025-04-29 05:43:42 [debug] Diagnostics for board 50:
2025-04-29 05:43:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:43:42 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.3%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:31:33 ago, cause: software
2025-04-29 05:43:42 [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
2025-04-29 05:43:42 [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
2025-04-29 05:43:42 [debug] Moves scheduled 24165, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=570, frequency (Hz): min=1361, max=15306
Sync err accum 69, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2671667331 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 32.5C, max
2025-04-29 05:43:42 [debug] Driver 0: pos -9582, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16153, writes 0 timeouts 0
2025-04-29 05:43:42 [debug] Last sensors broadcast 0x00000000 found 0 57 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 78, 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 386, adv 36260/37071
2025-04-29 05:43:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2267
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10250, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2267
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:43:42 [info] currentZPosition:0.00169
2025-04-29 05:43:44 [debug] Stopped at height 0.002 mm
2025-04-29 05:43:44 [debug] Diagnostics for board 50:
2025-04-29 05:43:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:43:44 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:31:35 ago, cause: software
2025-04-29 05:43:44 [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
2025-04-29 05:43:44 [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
2025-04-29 05:43:44 [debug] Moves scheduled 24169, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 164, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=718, frequency (Hz): min=1177, max=15306
Sync err accum 62, peak jitter -2/0, peak Rx delay 195, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 2670483976 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:43:44 [debug] Driver 0: pos -9583, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18225, writes 0 timeouts 0
2025-04-29 05:43:44 [debug] Last sensors broadcast 0x00000000 found 0 137 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 90, 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 367, adv 36130/37122
2025-04-29 05:43:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2268
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10293, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:43:44 [info] currentZPosition:0.00159
2025-04-29 05:43:45 [debug] Stopped at height 0.001 mm
2025-04-29 05:43:45 [debug] Diagnostics for board 50:
2025-04-29 05:43:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:43:45 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.2%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:31:36 ago, cause: software
2025-04-29 05:43:45 [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
2025-04-29 05:43:45 [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
2025-04-29 05:43:45 [debug] Moves scheduled 24173, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 240, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=573, frequency (Hz): min=1412, max=15306
Sync err accum 66, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 2669437952 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:43:45 [debug] Driver 0: pos -9594, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16709, writes 0 timeouts 0
2025-04-29 05:43:45 [debug] Last sensors broadcast 0x00000000 found 0 29 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 84, 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 380, adv 36197/37100
2025-04-29 05:43:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10359, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:43:45 [info] currentZPosition:5.964e-4
2025-04-29 05:43:47 [debug] Stopped at height 0.001 mm
2025-04-29 05:43:47 [debug] Diagnostics for board 50:
2025-04-29 05:43:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:43:47 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:31:38 ago, cause: software
2025-04-29 05:43:47 [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
2025-04-29 05:43:47 [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
2025-04-29 05:43:47 [debug] Moves scheduled 24177, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=628, frequency (Hz): min=1431, max=15306
Sync err accum 64, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2668267888 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 32.5C, max
2025-04-29 05:43:47 [debug] Driver 0: pos -9589, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17957, writes 0 timeouts 0
2025-04-29 05:43:47 [debug] Last sensors broadcast 0x00000000 found 0 89 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 100, 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 360, adv 36137/37114
2025-04-29 05:43:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10313, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4708, no error
Lin: Encoder reverse polarity: no, raw count 2265
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:43:47 [info] currentZPosition:0.00119
2025-04-29 05:43:48 [debug] Stopped at height 0.001 mm
2025-04-29 05:43:48 [debug] Diagnostics for board 50:
2025-04-29 05:43:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:43:48 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:31:39 ago, cause: software
2025-04-29 05:43:48 [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
2025-04-29 05:43:48 [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
2025-04-29 05:43:48 [debug] Moves scheduled 24181, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 161, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=713, frequency (Hz): min=1196, max=15306
Sync err accum 66, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 2667250951 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:43:48 [debug] Driver 0: pos -9588, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16307, writes 0 timeouts 0
2025-04-29 05:43:48 [debug] Last sensors broadcast 0x00000000 found 0 196 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 80, 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 444, adv 36195/37094
2025-04-29 05:43:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2266
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10296, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4708, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:43:48 [info] currentZPosition:0.00139
2025-04-29 05:43:49 [debug] Stopped at height 0.002 mm
2025-04-29 05:43:49 [debug] Diagnostics for board 50:
2025-04-29 05:43:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:43:49 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:31:41 ago, cause: software
2025-04-29 05:43:49 [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
2025-04-29 05:43:49 [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
2025-04-29 05:43:49 [debug] Moves scheduled 24185, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=594, frequency (Hz): min=730, max=15306
Sync err accum 62, peak jitter -2/0, peak Rx delay 220, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 2666076244 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:43:49 [debug] Driver 0: pos -9586, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17993, writes 11 timeouts 1
2025-04-29 05:43:49 [debug] Last sensors broadcast 0x00000000 found 0 11 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 94, send timeouts 0, received 22, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36092/37091
2025-04-29 05:43:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2266
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10283, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:43:50 [info] currentZPosition:0.00159
2025-04-29 05:43:51 [debug] Stopped at height 0.001 mm
2025-04-29 05:43:51 [debug] Diagnostics for board 50:
2025-04-29 05:43:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:43:51 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.2%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:31:42 ago, cause: software
2025-04-29 05:43:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 05:43:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 05:43:51 [debug] Moves scheduled 24189, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=497, frequency (Hz): min=1677, max=15306
Sync err accum 67, peak jitter 0/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 2665044863 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:43:51 [debug] Driver 0: pos -9589, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16485, writes 0 timeouts 0
2025-04-29 05:43:51 [debug] Last sensors broadcast 0x00000000 found 0 136 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 84, 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 371, adv 36199/37137
2025-04-29 05:43:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10287, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:43:51 [info] currentZPosition:0.00129
2025-04-29 05:43:52 [debug] Stopped at height 0.001 mm
2025-04-29 05:43:52 [debug] Diagnostics for board 50:
2025-04-29 05:43:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:43:52 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:31:44 ago, cause: software
2025-04-29 05:43:52 [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
2025-04-29 05:43:52 [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
2025-04-29 05:43:52 [debug] Moves scheduled 24193, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=622, frequency (Hz): min=1479, max=15306
Sync err accum 64, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2663861012 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 32.5C, max
2025-04-29 05:43:52 [debug] Driver 0: pos -9588, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18184, writes 0 timeouts 0
2025-04-29 05:43:52 [debug] Last sensors broadcast 0x00000000 found 0 217 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 95, 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 387, adv 36138/37099
2025-04-29 05:43:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2269
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10302, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4708, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:43:53 [info] currentZPosition:0.00139
2025-04-29 05:43:54 [debug] Stopped at height 0.001 mm
2025-04-29 05:43:54 [debug] Diagnostics for board 50:
2025-04-29 05:43:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:43:54 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.3%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:31:45 ago, cause: software
2025-04-29 05:43:54 [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
2025-04-29 05:43:54 [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
2025-04-29 05:43:54 [debug] Moves scheduled 24197, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 240, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=442, frequency (Hz): min=1740, max=15306
Sync err accum 64, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 2662834700 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:43:54 [debug] Driver 0: pos -9588, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16369, writes 0 timeouts 0
2025-04-29 05:43:54 [debug] Last sensors broadcast 0x00000000 found 0 84 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 82, 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 387, adv 36197/37097
2025-04-29 05:43:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10304, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4707, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:43:54 [info] currentZPosition:0.00129
2025-04-29 05:43:55 [debug] Stopped at height 0.001 mm
2025-04-29 05:43:55 [debug] Diagnostics for board 50:
2025-04-29 05:43:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:43:55 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,68.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,8.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:31:47 ago, cause: software
2025-04-29 05:43:55 [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
2025-04-29 05:43:55 [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
2025-04-29 05:43:55 [debug] Moves scheduled 24201, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=533, frequency (Hz): min=1445, max=15306
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 2661656998 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:43:55 [debug] Driver 0: pos -9587, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17910, writes 0 timeouts 0
2025-04-29 05:43:55 [debug] Last sensors broadcast 0x00000000 found 0 154 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 101, 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 376, adv 36083/37115
2025-04-29 05:43:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2268
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10286, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:43:55 [info] currentZPosition:0.00139
2025-04-29 05:43:57 [debug] Stopped at height 0.001 mm
2025-04-29 05:43:57 [debug] Diagnostics for board 50:
2025-04-29 05:43:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:43:57 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.5%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:31:48 ago, cause: software
2025-04-29 05:43:57 [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
2025-04-29 05:43:57 [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
2025-04-29 05:43:57 [debug] Moves scheduled 24205, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 243, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=477, frequency (Hz): min=1674, max=15306
Sync err accum 69, peak jitter -1/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 1 ticks, disabled, CC0 mismatch!!, next step interrupt due in 2660622062 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatu
2025-04-29 05:43:57 [debug] Driver 0: pos -9593, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16526, writes 0 timeouts 0
2025-04-29 05:43:57 [debug] Last sensors broadcast 0x00000000 found 0 36 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 85, send timeouts 0, received 22, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36209/37136
2025-04-29 05:43:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10324, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:43:57 [info] currentZPosition:7.952e-4
2025-04-29 05:43:58 [debug] Stopped at height 0.001 mm
2025-04-29 05:43:58 [debug] Diagnostics for board 50:
2025-04-29 05:43:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:43:58 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,68.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,8.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:31:50 ago, cause: software
2025-04-29 05:43:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 05:43:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 05:43:58 [debug] Moves scheduled 24209, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 161, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=473, frequency (Hz): min=1592, max=15306
Sync err accum 67, peak jitter -2/1, peak Rx delay 189, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 2659454531 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:43:58 [debug] Driver 0: pos -9586, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17802, writes 0 timeouts 0
2025-04-29 05:43:58 [debug] Last sensors broadcast 0x00000000 found 0 91 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 95, 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 381, adv 36107/37145
2025-04-29 05:43:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10307, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2265
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:43:58 [info] currentZPosition:0.00149
2025-04-29 05:44:00 [debug] Stopped at height 0.002 mm
2025-04-29 05:44:00 [debug] Diagnostics for board 50:
2025-04-29 05:44:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:44:00 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.0%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:31:51 ago, cause: software
2025-04-29 05:44:00 [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
2025-04-29 05:44:00 [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
2025-04-29 05:44:00 [debug] Moves scheduled 24213, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 388, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=621, frequency (Hz): min=1168, max=15306
Sync err accum 64, peak jitter -2/1, peak Rx delay 216, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 2658433340 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:44:00 [debug] Driver 0: pos -9585, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16376, writes 0 timeouts 0
2025-04-29 05:44:00 [debug] Last sensors broadcast 0x00000000 found 0 202 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 78, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 371, adv 36215/37161
2025-04-29 05:44:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10286, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2267
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:44:00 [info] currentZPosition:0.00159
2025-04-29 05:44:01 [debug] Stopped at height 0.000 mm
2025-04-29 05:44:01 [debug] Diagnostics for board 50:
2025-04-29 05:44:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:44:01 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:31:53 ago, cause: software
2025-04-29 05:44:01 [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
2025-04-29 05:44:01 [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
2025-04-29 05:44:01 [debug] Moves scheduled 24217, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=577, frequency (Hz): min=1279, max=15306
Sync err accum 68, peak jitter -1/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2657217021 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 32.5C, max
2025-04-29 05:44:01 [debug] Driver 0: pos -9601, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18705, writes 0 timeouts 0
2025-04-29 05:44:01 [debug] Last sensors broadcast 0x00000000 found 0 76 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 105, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36099/37146
2025-04-29 05:44:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10373, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:44:01 [info] currentZPosition:0.00
2025-04-29 05:44:02 [debug] Stopped at height -0.001 mm
2025-04-29 05:44:03 [debug] Stopped at height 0.002 mm
2025-04-29 05:44:03 [debug] Diagnostics for board 50:
2025-04-29 05:44:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:44:03 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.3%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:31:54 ago, cause: software
2025-04-29 05:44:03 [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
2025-04-29 05:44:03 [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
2025-04-29 05:44:03 [debug] Moves scheduled 24223, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 307, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=632, frequency (Hz): min=589, max=15306
Sync err accum 63, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2655980386 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 32.5C, max 
2025-04-29 05:44:03 [debug] Driver 0: pos -9585, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 19737, writes 11 timeouts 1
2025-04-29 05:44:03 [debug] Last sensors broadcast 0x00000000 found 0 223 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 87, 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 702, adv 36230/37127
2025-04-29 05:44:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2269
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10308, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2266
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:44:03 [info] currentZPosition:0.00159
2025-04-29 05:44:03 [debug] Stopped at height 0.001 mm
2025-04-29 05:44:05 [debug] Stopped at height 0.001 mm
2025-04-29 05:44:05 [debug] Diagnostics for board 50:
2025-04-29 05:44:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:44:05 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:31:56 ago, cause: software
2025-04-29 05:44:05 [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
2025-04-29 05:44:05 [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
2025-04-29 05:44:05 [debug] Moves scheduled 24229, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=493, frequency (Hz): min=494, max=15306
Sync err accum 64, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2654542354 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 32.5C, max 
2025-04-29 05:44:05 [debug] Driver 0: pos -9594, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 22262, writes 11 timeouts 1
2025-04-29 05:44:05 [debug] Last sensors broadcast 0x00000000 found 0 141 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 106, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36133/37094
2025-04-29 05:44:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10331, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:44:05 [info] currentZPosition:6.958e-4
2025-04-29 05:44:06 [debug] Stopped at height 0.001 mm
2025-04-29 05:44:06 [debug] Diagnostics for board 50:
2025-04-29 05:44:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:44:06 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:31:58 ago, cause: software
2025-04-29 05:44:06 [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
2025-04-29 05:44:06 [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
2025-04-29 05:44:06 [debug] Moves scheduled 24233, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=520, frequency (Hz): min=1506, max=15306
Sync err accum 64, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2653509532 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 32.5C, max
2025-04-29 05:44:06 [debug] Driver 0: pos -9595, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16468, writes 0 timeouts 0
2025-04-29 05:44:06 [debug] Last sensors broadcast 0x00000000 found 0 19 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 91, 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 405, adv 36230/37154
2025-04-29 05:44:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10346, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:44:06 [info] currentZPosition:5.964e-4
2025-04-29 05:44:08 [debug] Stopped at height 0.000 mm
2025-04-29 05:44:08 [debug] Diagnostics for board 50:
2025-04-29 05:44:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:44:08 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,68.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,8.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:31:59 ago, cause: software
2025-04-29 05:44:08 [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
2025-04-29 05:44:08 [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
2025-04-29 05:44:08 [debug] Moves scheduled 24237, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=702, frequency (Hz): min=1106, max=15306
Sync err accum 63, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 2652318611 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:44:08 [debug] Driver 0: pos -9596, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18092, writes 0 timeouts 0
2025-04-29 05:44:08 [debug] Last sensors broadcast 0x00000000 found 0 105 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 107, 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 373, adv 36117/37136
2025-04-29 05:44:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10340, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:44:08 [info] currentZPosition:4.970e-4
2025-04-29 05:44:09 [debug] Stopped at height 0.001 mm
2025-04-29 05:44:09 [debug] Diagnostics for board 50:
2025-04-29 05:44:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:44:09 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.7%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:32:00 ago, cause: software
2025-04-29 05:44:09 [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
2025-04-29 05:44:09 [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
2025-04-29 05:44:09 [debug] Moves scheduled 24241, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 264, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=546, frequency (Hz): min=1308, max=15306
Sync err accum 64, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2651296388 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 32.5C, max
2025-04-29 05:44:09 [debug] Driver 0: pos -9593, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16304, writes 0 timeouts 0
2025-04-29 05:44:09 [debug] Last sensors broadcast 0x00000000 found 0 220 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 84, 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 371, adv 36197/37108
2025-04-29 05:44:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2269
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10349, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:44:09 [info] currentZPosition:7.952e-4
2025-04-29 05:44:11 [debug] Stopped at height 0.001 mm
2025-04-29 05:44:11 [debug] Diagnostics for board 50:
2025-04-29 05:44:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:44:11 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,68.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,8.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:32:02 ago, cause: software
2025-04-29 05:44:11 [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
2025-04-29 05:44:11 [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
2025-04-29 05:44:11 [debug] Moves scheduled 24245, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 320, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=464, frequency (Hz): min=944, max=15306
Sync err accum 63, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 2650125282 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:44:11 [debug] Driver 0: pos -9588, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17811, writes 11 timeouts 1
2025-04-29 05:44:11 [debug] Last sensors broadcast 0x00000000 found 0 30 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 100, 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 383, adv 36051/37117
2025-04-29 05:44:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10285, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:44:11 [info] currentZPosition:0.00129
2025-04-29 05:44:12 [debug] Stopped at height 0.001 mm
2025-04-29 05:44:12 [debug] Diagnostics for board 50:
2025-04-29 05:44:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:44:12 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:32:03 ago, cause: software
2025-04-29 05:44:12 [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
2025-04-29 05:44:12 [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
2025-04-29 05:44:12 [debug] Moves scheduled 24249, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 284, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=601, frequency (Hz): min=487, max=15306
Sync err accum 68, peak jitter 0/2, peak Rx delay 187, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2649099220 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 32.5C, max 3
2025-04-29 05:44:12 [debug] Driver 0: pos -9589, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16379, writes 11 timeouts 1
2025-04-29 05:44:12 [debug] Last sensors broadcast 0x00000000 found 0 147 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 83, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36211/37147
2025-04-29 05:44:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10306, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4707, no error
Lin: Encoder reverse polarity: no, raw count 2267
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:44:12 [info] currentZPosition:0.00129
2025-04-29 05:44:14 [debug] Stopped at height 0.001 mm
2025-04-29 05:44:14 [debug] Diagnostics for board 50:
2025-04-29 05:44:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:44:14 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:32:05 ago, cause: software
2025-04-29 05:44:14 [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
2025-04-29 05:44:14 [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
2025-04-29 05:44:14 [debug] Moves scheduled 24253, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=688, frequency (Hz): min=1217, max=15625
Sync err accum 62, peak jitter -2/0, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 2647907383 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:44:14 [debug] Driver 0: pos -9593, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18264, writes 0 timeouts 0
2025-04-29 05:44:14 [debug] Last sensors broadcast 0x00000000 found 0 239 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 96, 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 405, adv 36176/37131
2025-04-29 05:44:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10320, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:44:14 [info] currentZPosition:8.946e-4
2025-04-29 05:44:15 [debug] Stopped at height 0.001 mm
2025-04-29 05:44:15 [debug] Diagnostics for board 50:
2025-04-29 05:44:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:44:15 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.7%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:32:06 ago, cause: software
2025-04-29 05:44:15 [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
2025-04-29 05:44:15 [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
2025-04-29 05:44:15 [debug] Moves scheduled 24257, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 263, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=697, frequency (Hz): min=1356, max=15306
Sync err accum 67, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2646871200 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 32.5C, max 
2025-04-29 05:44:15 [debug] Driver 0: pos -9596, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16486, writes 0 timeouts 0
2025-04-29 05:44:15 [debug] Last sensors broadcast 0x00000000 found 0 120 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 88, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36265/37100
2025-04-29 05:44:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10333, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:44:15 [info] currentZPosition:5.964e-4
2025-04-29 05:44:17 [debug] Stopped at height 0.001 mm
2025-04-29 05:44:17 [debug] Diagnostics for board 50:
2025-04-29 05:44:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:44:17 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,68.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,8.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:32:08 ago, cause: software
2025-04-29 05:44:17 [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
2025-04-29 05:44:17 [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
2025-04-29 05:44:17 [debug] Moves scheduled 24261, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=565, frequency (Hz): min=1512, max=15306
Sync err accum 64, peak jitter -2/1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2645696731 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 32.7C, max
2025-04-29 05:44:17 [debug] Driver 0: pos -9591, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17735, writes 0 timeouts 0
2025-04-29 05:44:17 [debug] Last sensors broadcast 0x00000000 found 0 183 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 104, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36146/37116
2025-04-29 05:44:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10336, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:44:17 [info] currentZPosition:0.00109
2025-04-29 05:44:18 [debug] Stopped at height 0.002 mm
2025-04-29 05:44:18 [debug] Diagnostics for board 50:
2025-04-29 05:44:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:44:18 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.5%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:32:09 ago, cause: software
2025-04-29 05:44:18 [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
2025-04-29 05:44:18 [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
2025-04-29 05:44:18 [debug] Moves scheduled 24265, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=621, frequency (Hz): min=1461, max=15306
Sync err accum 66, peak jitter -2/2, peak Rx delay 184, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2644679144 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 32.7C, max
2025-04-29 05:44:18 [debug] Driver 0: pos -9586, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16264, writes 0 timeouts 0
2025-04-29 05:44:18 [debug] Last sensors broadcast 0x00000000 found 0 40 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 81, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 354, adv 36211/37133
2025-04-29 05:44:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2268
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10264, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:44:18 [info] currentZPosition:0.00159
2025-04-29 05:44:20 [debug] Stopped at height 0.002 mm
2025-04-29 05:44:20 [debug] Diagnostics for board 50:
2025-04-29 05:44:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:44:20 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:32:11 ago, cause: software
2025-04-29 05:44:20 [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
2025-04-29 05:44:20 [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
2025-04-29 05:44:20 [debug] Moves scheduled 24269, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=565, frequency (Hz): min=760, max=15306
Sync err accum 74, peak jitter 0/2, peak Rx delay 185, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 2643502228 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, curr
2025-04-29 05:44:20 [debug] Driver 0: pos -9585, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18043, writes 11 timeouts 1
2025-04-29 05:44:20 [debug] Last sensors broadcast 0x00000000 found 0 109 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 92, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36149/37158
2025-04-29 05:44:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10283, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2266
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:44:20 [info] currentZPosition:0.00169
2025-04-29 05:44:21 [debug] Stopped at height 0.001 mm
2025-04-29 05:44:21 [debug] Diagnostics for board 50:
2025-04-29 05:44:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:44:21 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:32:12 ago, cause: software
2025-04-29 05:44:21 [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
2025-04-29 05:44:21 [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
2025-04-29 05:44:21 [debug] Moves scheduled 24273, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 339, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=548, frequency (Hz): min=1479, max=15306
Sync err accum 70, peak jitter -1/0, peak Rx delay 194, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2642474219 ticks, 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
2025-04-29 05:44:21 [debug] Driver 0: pos -9589, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16476, writes 0 timeouts 0
2025-04-29 05:44:21 [debug] Last sensors broadcast 0x00000000 found 0 231 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 80, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36229/37131
2025-04-29 05:44:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10305, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2267
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:44:21 [info] currentZPosition:0.00129
2025-04-29 05:44:23 [debug] Stopped at height 0.001 mm
2025-04-29 05:44:23 [debug] Diagnostics for board 50:
2025-04-29 05:44:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:44:23 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:32:14 ago, cause: software
2025-04-29 05:44:23 [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
2025-04-29 05:44:23 [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
2025-04-29 05:44:23 [debug] Moves scheduled 24277, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=562, frequency (Hz): min=655, max=15625
Sync err accum 63, peak jitter -2/1, peak Rx delay 185, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 2641282970 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:44:23 [debug] Driver 0: pos -9594, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18199, writes 11 timeouts 1
2025-04-29 05:44:23 [debug] Last sensors broadcast 0x00000000 found 0 69 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 102, 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 393, adv 36139/37101
2025-04-29 05:44:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10324, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:44:23 [info] currentZPosition:7.952e-4
2025-04-29 05:44:24 [debug] Stopped at height 0.001 mm
2025-04-29 05:44:24 [debug] Diagnostics for board 50:
2025-04-29 05:44:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:44:24 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:32:15 ago, cause: software
2025-04-29 05:44:24 [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
2025-04-29 05:44:24 [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
2025-04-29 05:44:24 [debug] Moves scheduled 24281, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=732, frequency (Hz): min=1241, max=15306
Sync err accum 72, peak jitter 1/2, peak Rx delay 204, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 2640257957 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:44:24 [debug] Driver 0: pos -9594, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16347, writes 0 timeouts 0
2025-04-29 05:44:24 [debug] Last sensors broadcast 0x00000000 found 0 188 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 86, 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 477, adv 36233/37103
2025-04-29 05:44:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2267
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10342, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4709, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:44:24 [info] currentZPosition:7.952e-4
2025-04-29 05:44:25 [debug] Stopped at height 0.002 mm
2025-04-29 05:44:25 [debug] Diagnostics for board 50:
2025-04-29 05:44:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:44:25 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,68.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,8.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:32:17 ago, cause: software
2025-04-29 05:44:25 [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
2025-04-29 05:44:25 [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
2025-04-29 05:44:25 [debug] Moves scheduled 24285, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=501, frequency (Hz): min=1575, max=15306
Sync err accum 71, peak jitter -1/1, peak Rx delay 193, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 2639102020 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:44:25 [debug] Driver 0: pos -9580, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17543, writes 0 timeouts 0
2025-04-29 05:44:25 [debug] Last sensors broadcast 0x00000000 found 0 228 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 95, 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 467, adv 36115/37120
2025-04-29 05:44:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2265
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10267, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:44:26 [info] currentZPosition:0.00219
2025-04-29 05:44:26 [debug] Stopped at height 0.001 mm
2025-04-29 05:44:27 [debug] Stopped at height 0.001 mm
2025-04-29 05:44:27 [debug] Diagnostics for board 50:
2025-04-29 05:44:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:44:27 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,3.9%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:32:18 ago, cause: software
2025-04-29 05:44:27 [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
2025-04-29 05:44:27 [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
2025-04-29 05:44:27 [debug] Moves scheduled 24291, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=580, frequency (Hz): min=1381, max=15625
Sync err accum 63, peak jitter -2/0, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2637822082 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 32.7C, max
2025-04-29 05:44:27 [debug] Driver 0: pos -9591, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20527, writes 0 timeouts 0
2025-04-29 05:44:27 [debug] Last sensors broadcast 0x00000000 found 0 184 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 96, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36255/37134
2025-04-29 05:44:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2269
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10330, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:44:27 [info] currentZPosition:0.00109
2025-04-29 05:44:29 [debug] Stopped at height 0.001 mm
2025-04-29 05:44:29 [debug] Diagnostics for board 50:
2025-04-29 05:44:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:44:29 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,68.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,8.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:32:20 ago, cause: software
2025-04-29 05:44:29 [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
2025-04-29 05:44:29 [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
2025-04-29 05:44:29 [debug] Moves scheduled 24295, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=594, frequency (Hz): min=1233, max=15306
Sync err accum 69, peak jitter -1/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2636643768 ticks, 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
2025-04-29 05:44:29 [debug] Driver 0: pos -9589, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17956, writes 0 timeouts 0
2025-04-29 05:44:29 [debug] Last sensors broadcast 0x00000000 found 0 6 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 105, send timeouts 0, received 22, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36069/37123
2025-04-29 05:44:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2265
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10295, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:44:29 [info] currentZPosition:0.00129
2025-04-29 05:44:30 [debug] Stopped at height 0.002 mm
2025-04-29 05:44:30 [debug] Diagnostics for board 50:
2025-04-29 05:44:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:44:30 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:32:21 ago, cause: software
2025-04-29 05:44:30 [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
2025-04-29 05:44:30 [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
2025-04-29 05:44:30 [debug] Moves scheduled 24299, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 160, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=576, frequency (Hz): min=1237, max=15625
Sync err accum 71, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2635641169 ticks, 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
2025-04-29 05:44:30 [debug] Driver 0: pos -9580, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16054, writes 0 timeouts 0
2025-04-29 05:44:30 [debug] Last sensors broadcast 0x00000000 found 0 92 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 76, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 367, adv 36231/37119
2025-04-29 05:44:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2265
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10266, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4707, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:44:30 [info] currentZPosition:0.00219
2025-04-29 05:44:32 [debug] Stopped at height 0.002 mm
2025-04-29 05:44:32 [debug] Diagnostics for board 50:
2025-04-29 05:44:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:44:32 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:32:23 ago, cause: software
2025-04-29 05:44:32 [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
2025-04-29 05:44:32 [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
2025-04-29 05:44:32 [debug] Moves scheduled 24303, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 669, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=466, frequency (Hz): min=1336, max=15306
Sync err accum 64, peak jitter -1/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2634457415 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:44:32 [debug] Driver 0: pos -9584, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18282, writes 0 timeouts 0
2025-04-29 05:44:32 [debug] Last sensors broadcast 0x00000000 found 0 170 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 90, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36139/37120
2025-04-29 05:44:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10308, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2266
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:44:32 [info] currentZPosition:0.00179
2025-04-29 05:44:33 [debug] Stopped at height 0.002 mm
2025-04-29 05:44:33 [debug] Diagnostics for board 50:
2025-04-29 05:44:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:44:33 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:32:24 ago, cause: software
2025-04-29 05:44:33 [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
2025-04-29 05:44:33 [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
2025-04-29 05:44:33 [debug] Moves scheduled 24307, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=601, frequency (Hz): min=1512, max=15306
Sync err accum 65, peak jitter -2/3, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2633442122 ticks, 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
2025-04-29 05:44:33 [debug] Driver 0: pos -9581, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16264, writes 0 timeouts 0
2025-04-29 05:44:33 [debug] Last sensors broadcast 0x00000000 found 0 24 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 78, 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 790, adv 36161/37124
2025-04-29 05:44:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2267
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10249, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4707, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:44:33 [info] currentZPosition:0.00209
2025-04-29 05:44:35 [debug] Stopped at height 0.002 mm
2025-04-29 05:44:35 [debug] Diagnostics for board 50:
2025-04-29 05:44:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:44:35 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:32:26 ago, cause: software
2025-04-29 05:44:35 [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
2025-04-29 05:44:35 [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
2025-04-29 05:44:35 [debug] Moves scheduled 24311, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 164, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=448, frequency (Hz): min=1609, max=15306
Sync err accum 80, peak jitter 1/3, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2632253676 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 32.7C, max 
2025-04-29 05:44:35 [debug] Driver 0: pos -9585, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18235, writes 0 timeouts 0
2025-04-29 05:44:35 [debug] Last sensors broadcast 0x00000000 found 0 109 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 94, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36116/37102
2025-04-29 05:44:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2269
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10262, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:44:35 [info] currentZPosition:0.00169
2025-04-29 05:44:36 [debug] Stopped at height 0.001 mm
2025-04-29 05:44:36 [debug] Diagnostics for board 50:
2025-04-29 05:44:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:44:36 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:32:27 ago, cause: software
2025-04-29 05:44:36 [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
2025-04-29 05:44:36 [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
2025-04-29 05:44:36 [debug] Moves scheduled 24315, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=601, frequency (Hz): min=1351, max=15306
Sync err accum 82, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2631222552 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 32.7C, max
2025-04-29 05:44:36 [debug] Driver 0: pos -9589, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16537, writes 0 timeouts 0
2025-04-29 05:44:36 [debug] Last sensors broadcast 0x00000000 found 0 233 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 79, 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 443, adv 36196/37112
2025-04-29 05:44:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2268
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10324, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:44:36 [info] currentZPosition:0.00129
2025-04-29 05:44:37 [debug] Stopped at height 0.002 mm
2025-04-29 05:44:37 [debug] Diagnostics for board 50:
2025-04-29 05:44:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:44:37 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,68.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,8.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:32:29 ago, cause: software
2025-04-29 05:44:37 [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
2025-04-29 05:44:37 [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
2025-04-29 05:44:37 [debug] Moves scheduled 24319, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=536, frequency (Hz): min=1666, max=15306
Sync err accum 73, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2630054819 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 32.7C, max
2025-04-29 05:44:37 [debug] Driver 0: pos -9580, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17762, writes 0 timeouts 0
2025-04-29 05:44:37 [debug] Last sensors broadcast 0x00000000 found 0 40 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 98, 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 393, adv 36064/37127
2025-04-29 05:44:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2265
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10268, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:44:38 [info] currentZPosition:0.00219
2025-04-29 05:44:39 [debug] Stopped at height 0.001 mm
2025-04-29 05:44:39 [debug] Diagnostics for board 50:
2025-04-29 05:44:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:44:39 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:32:30 ago, cause: software
2025-04-29 05:44:39 [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
2025-04-29 05:44:39 [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
2025-04-29 05:44:39 [debug] Moves scheduled 24323, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=693, frequency (Hz): min=481, max=15306
Sync err accum 61, peak jitter -3/0, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2629012436 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 32.5C, max 
2025-04-29 05:44:39 [debug] Driver 0: pos -9591, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16655, writes 22 timeouts 2
2025-04-29 05:44:39 [debug] Last sensors broadcast 0x00000000 found 0 180 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 82, 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 416, adv 36242/37170
2025-04-29 05:44:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2267
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10351, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:44:39 [info] currentZPosition:0.00109
2025-04-29 05:44:40 [debug] Stopped at height 0.001 mm
2025-04-29 05:44:40 [debug] Diagnostics for board 50:
2025-04-29 05:44:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:44:40 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,8.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:32:32 ago, cause: software
2025-04-29 05:44:40 [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
2025-04-29 05:44:40 [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
2025-04-29 05:44:40 [debug] Moves scheduled 24327, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 164, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=517, frequency (Hz): min=1599, max=15306
Sync err accum 69, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2627827774 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 05:44:40 [debug] Driver 0: pos -9592, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18042, writes 0 timeouts 0
2025-04-29 05:44:40 [debug] Last sensors broadcast 0x00000000 found 0 11 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 103, 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 534, adv 36098/37111
2025-04-29 05:44:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2268
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10322, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:44:41 [info] currentZPosition:0.00109
2025-04-29 05:44:42 [debug] Stopped at height 0.002 mm
2025-04-29 05:44:42 [debug] Diagnostics for board 50:
2025-04-29 05:44:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:44:42 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.4%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:32:33 ago, cause: software
2025-04-29 05:44:42 [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
2025-04-29 05:44:42 [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
2025-04-29 05:44:42 [debug] Moves scheduled 24331, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 158, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=530, frequency (Hz): min=1467, max=15306
Sync err accum 71, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 2626822722 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:44:42 [debug] Driver 0: pos -9583, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16064, writes 0 timeouts 0
2025-04-29 05:44:42 [debug] Last sensors broadcast 0x00000000 found 0 98 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 76, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36198/37160
2025-04-29 05:44:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2268
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10304, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4707, no error
Lin: Encoder reverse polarity: no, raw count 2268
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:44:42 [info] currentZPosition:0.00199
2025-04-29 05:44:43 [debug] Stopped at height 0.001 mm
2025-04-29 05:44:43 [debug] Diagnostics for board 50:
2025-04-29 05:44:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:44:43 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:32:35 ago, cause: software
2025-04-29 05:44:43 [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
2025-04-29 05:44:43 [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
2025-04-29 05:44:43 [debug] Moves scheduled 24335, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=602, frequency (Hz): min=1488, max=15306
Sync err accum 62, peak jitter -2/0, peak Rx delay 192, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2625624310 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 32.7C, max
2025-04-29 05:44:43 [debug] Driver 0: pos -9591, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18407, writes 0 timeouts 0
2025-04-29 05:44:43 [debug] Last sensors broadcast 0x00000000 found 0 198 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 99, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36107/37088
2025-04-29 05:44:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2269
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10347, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:44:44 [info] currentZPosition:0.00119
2025-04-29 05:44:45 [debug] Stopped at height 0.002 mm
2025-04-29 05:44:45 [debug] Diagnostics for board 50:
2025-04-29 05:44:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:44:45 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.2%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:32:36 ago, cause: software
2025-04-29 05:44:45 [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
2025-04-29 05:44:45 [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
2025-04-29 05:44:45 [debug] Moves scheduled 24339, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 161, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=581, frequency (Hz): min=846, max=15625
Sync err accum 68, peak jitter 0/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2624613384 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, curr
2025-04-29 05:44:45 [debug] Driver 0: pos -9585, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16166, writes 11 timeouts 1
2025-04-29 05:44:45 [debug] Last sensors broadcast 0x00000000 found 0 47 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 83, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36205/37107
2025-04-29 05:44:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2264
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10281, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:44:45 [info] currentZPosition:0.00179
2025-04-29 05:44:46 [debug] Stopped at height 0.001 mm
2025-04-29 05:44:46 [debug] Diagnostics for board 50:
2025-04-29 05:44:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:44:46 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:32:38 ago, cause: software
2025-04-29 05:44:46 [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
2025-04-29 05:44:46 [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
2025-04-29 05:44:46 [debug] Moves scheduled 24343, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=661, frequency (Hz): min=1188, max=15306
Sync err accum 68, peak jitter -1/2, peak Rx delay 195, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 2623425760 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:44:46 [debug] Driver 0: pos -9590, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18174, writes 0 timeouts 0
2025-04-29 05:44:46 [debug] Last sensors broadcast 0x00000000 found 0 129 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 101, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 370, adv 36047/37123
2025-04-29 05:44:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2268
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10282, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:44:46 [info] currentZPosition:0.00139
2025-04-29 05:44:48 [debug] Stopped at height 0.001 mm
2025-04-29 05:44:48 [debug] Diagnostics for board 50:
2025-04-29 05:44:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:44:48 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.2%
Owned mutexes:
Last reset 16:32:39 ago, cause: software
2025-04-29 05:44:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 05:44:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 05:44:48 [debug] Moves scheduled 24347, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=656, frequency (Hz): min=1288, max=15306
Sync err accum 63, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 2622390500 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:44:48 [debug] Driver 0: pos -9596, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16500, writes 0 timeouts 0
2025-04-29 05:44:48 [debug] Last sensors broadcast 0x00000000 found 0 12 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 88, 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 417, adv 36223/37077
2025-04-29 05:44:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10380, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:44:48 [info] currentZPosition:7.952e-4
2025-04-29 05:44:49 [debug] Stopped at height 0.002 mm
2025-04-29 05:44:49 [debug] Diagnostics for board 50:
2025-04-29 05:44:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:44:49 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:32:41 ago, cause: software
2025-04-29 05:44:49 [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
2025-04-29 05:44:49 [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
2025-04-29 05:44:49 [debug] Moves scheduled 24351, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 162, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=581, frequency (Hz): min=1388, max=15306
Sync err accum 70, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 2621230183 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:44:49 [debug] Driver 0: pos -9581, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17637, writes 0 timeouts 0
2025-04-29 05:44:49 [debug] Last sensors broadcast 0x00000000 found 0 56 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 97, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36098/37113
2025-04-29 05:44:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2267
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10244, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2268
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:44:49 [info] currentZPosition:0.00229
2025-04-29 05:44:50 [debug] Stopped at height 0.002 mm
2025-04-29 05:44:51 [debug] Stopped at height 0.002 mm
2025-04-29 05:44:51 [debug] Diagnostics for board 50:
2025-04-29 05:44:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:44:51 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,3.7%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:32:42 ago, cause: software
2025-04-29 05:44:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 05:44:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 05:44:51 [debug] Moves scheduled 24357, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=609, frequency (Hz): min=1334, max=15306
Sync err accum 69, peak jitter -1/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 2619967586 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:44:51 [debug] Driver 0: pos -9585, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20341, writes 0 timeouts 0
2025-04-29 05:44:51 [debug] Last sensors broadcast 0x00000000 found 0 240 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 84, 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 391, adv 36175/37120
2025-04-29 05:44:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2268
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10258, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:44:51 [info] currentZPosition:0.00189
2025-04-29 05:44:53 [debug] Stopped at height 0.001 mm
2025-04-29 05:44:53 [debug] Diagnostics for board 50:
2025-04-29 05:44:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:44:53 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:32:44 ago, cause: software
2025-04-29 05:44:53 [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
2025-04-29 05:44:53 [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
2025-04-29 05:44:53 [debug] Moves scheduled 24361, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=581, frequency (Hz): min=579, max=15306
Sync err accum 62, peak jitter -2/1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2618769207 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 05:44:53 [debug] Driver 0: pos -9592, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18356, writes 22 timeouts 2
2025-04-29 05:44:53 [debug] Last sensors broadcast 0x00000000 found 0 92 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 98, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36084/37173
2025-04-29 05:44:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10318, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:44:53 [info] currentZPosition:0.00119
2025-04-29 05:44:54 [debug] Stopped at height 0.001 mm
2025-04-29 05:44:54 [debug] Diagnostics for board 50:
2025-04-29 05:44:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:44:54 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.6%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:32:45 ago, cause: software
2025-04-29 05:44:54 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 05:44:54 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 05:44:54 [debug] Moves scheduled 24365, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=510, frequency (Hz): min=1681, max=15306
Sync err accum 68, peak jitter 0/2, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2617736459 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 05:44:54 [debug] Driver 0: pos -9595, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16458, writes 0 timeouts 0
2025-04-29 05:44:54 [debug] Last sensors broadcast 0x00000000 found 0 215 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 88, 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 381, adv 36215/37080
2025-04-29 05:44:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2269
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10335, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:44:54 [info] currentZPosition:8.946e-4
2025-04-29 05:44:55 [debug] Stopped at height 0.002 mm
2025-04-29 05:44:55 [debug] Diagnostics for board 50:
2025-04-29 05:44:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:44:55 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,68.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,8.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:32:47 ago, cause: software
2025-04-29 05:44:55 [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
2025-04-29 05:44:55 [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
2025-04-29 05:44:55 [debug] Moves scheduled 24369, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 164, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=664, frequency (Hz): min=1329, max=15306
Sync err accum 66, peak jitter -2/1, peak Rx delay 171, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2616568145 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 32.7C, max
2025-04-29 05:44:55 [debug] Driver 0: pos -9587, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17790, writes 0 timeouts 0
2025-04-29 05:44:55 [debug] Last sensors broadcast 0x00000000 found 0 22 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 97, 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 387, adv 36094/37085
2025-04-29 05:44:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10311, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:44:56 [info] currentZPosition:0.00169
2025-04-29 05:44:57 [debug] Stopped at height 0.002 mm
2025-04-29 05:44:57 [debug] Diagnostics for board 50:
2025-04-29 05:44:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:44:57 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.0%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:32:48 ago, cause: software
2025-04-29 05:44:57 [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
2025-04-29 05:44:57 [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
2025-04-29 05:44:57 [debug] Moves scheduled 24373, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=597, frequency (Hz): min=1386, max=15306
Sync err accum 64, peak jitter -1/1, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2615546482 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 32.7C, max
2025-04-29 05:44:57 [debug] Driver 0: pos -9587, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16403, writes 0 timeouts 0
2025-04-29 05:44:57 [debug] Last sensors broadcast 0x00000000 found 0 136 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 80, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 364, adv 36202/37125
2025-04-29 05:44:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2267
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10299, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:44:57 [info] currentZPosition:0.00169
2025-04-29 05:44:58 [debug] Stopped at height 0.002 mm
2025-04-29 05:44:58 [debug] Diagnostics for board 50:
2025-04-29 05:44:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:44:58 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,68.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,8.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:32:50 ago, cause: software
2025-04-29 05:44:58 [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
2025-04-29 05:44:58 [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
2025-04-29 05:44:58 [debug] Moves scheduled 24377, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=529, frequency (Hz): min=1473, max=17441
Sync err accum 66, peak jitter -1/2, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2614370433 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 32.7C, max
2025-04-29 05:44:58 [debug] Driver 0: pos -9584, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17893, writes 0 timeouts 0
2025-04-29 05:44:58 [debug] Last sensors broadcast 0x00000000 found 0 202 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 94, 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 453, adv 36093/37094
2025-04-29 05:44:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10293, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2265
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:44:59 [info] currentZPosition:0.00199
2025-04-29 05:45:00 [debug] Stopped at height 0.001 mm
2025-04-29 05:45:00 [debug] Diagnostics for board 50:
2025-04-29 05:45:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:45:00 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 100.1%
Owned mutexes:
Last reset 16:32:51 ago, cause: software
2025-04-29 05:45:00 [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
2025-04-29 05:45:00 [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
2025-04-29 05:45:00 [debug] Moves scheduled 24381, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=474, frequency (Hz): min=602, max=15306
Sync err accum 63, peak jitter -1/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2613332587 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:45:00 [debug] Driver 0: pos -9592, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16577, writes 11 timeouts 1
2025-04-29 05:45:00 [debug] Last sensors broadcast 0x00000000 found 0 88 ticks ago, 0 ordering errs, loop time 2
CAN messages queued 83, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36216/37132
2025-04-29 05:45:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10353, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4708, no error
Lin: Encoder reverse polarity: no, raw count 2268
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:45:00 [info] currentZPosition:0.00119
2025-04-29 05:45:01 [debug] Stopped at height 0.002 mm
2025-04-29 05:45:01 [debug] Diagnostics for board 50:
2025-04-29 05:45:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:45:01 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:32:53 ago, cause: software
2025-04-29 05:45:01 [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
2025-04-29 05:45:01 [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
2025-04-29 05:45:01 [debug] Moves scheduled 24385, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=488, frequency (Hz): min=1659, max=15306
Sync err accum 64, peak jitter -1/1, peak Rx delay 189, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2612156386 ticks, 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
2025-04-29 05:45:01 [debug] Driver 0: pos -9588, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17921, writes 0 timeouts 0
2025-04-29 05:45:01 [debug] Last sensors broadcast 0x00000000 found 0 156 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 98, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36124/37112
2025-04-29 05:45:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10289, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:45:01 [info] currentZPosition:0.00159
2025-04-29 05:45:03 [debug] Stopped at height 0.002 mm
2025-04-29 05:45:03 [debug] Diagnostics for board 50:
2025-04-29 05:45:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:45:03 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:32:54 ago, cause: software
2025-04-29 05:45:03 [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
2025-04-29 05:45:03 [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
2025-04-29 05:45:03 [debug] Moves scheduled 24389, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=564, frequency (Hz): min=1386, max=15306
Sync err accum 68, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2611151944 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 05:45:03 [debug] Driver 0: pos -9580, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16090, writes 0 timeouts 0
2025-04-29 05:45:03 [debug] Last sensors broadcast 0x00000000 found 0 243 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 76, 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 389, adv 36164/37120
2025-04-29 05:45:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2267
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10282, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:45:03 [info] currentZPosition:0.00239
2025-04-29 05:45:04 [debug] Stopped at height 0.002 mm
2025-04-29 05:45:04 [debug] Diagnostics for board 50:
2025-04-29 05:45:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:45:04 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:32:56 ago, cause: software
2025-04-29 05:45:04 [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
2025-04-29 05:45:04 [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
2025-04-29 05:45:04 [debug] Moves scheduled 24393, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=484, frequency (Hz): min=1456, max=15306
Sync err accum 67, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2609967718 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 32.7C, max
2025-04-29 05:45:04 [debug] Driver 0: pos -9584, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18176, writes 0 timeouts 0
2025-04-29 05:45:04 [debug] Last sensors broadcast 0x00000000 found 0 73 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 93, 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 371, adv 36171/37117
2025-04-29 05:45:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10297, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2266
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:45:04 [info] currentZPosition:0.00199
2025-04-29 05:45:06 [debug] Stopped at height 0.001 mm
2025-04-29 05:45:06 [debug] Diagnostics for board 50:
2025-04-29 05:45:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:45:06 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:32:57 ago, cause: software
2025-04-29 05:45:06 [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
2025-04-29 05:45:06 [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
2025-04-29 05:45:06 [debug] Moves scheduled 24397, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=764, frequency (Hz): min=1223, max=15306
Sync err accum 61, peak jitter -3/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2608930295 ticks, 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
2025-04-29 05:45:06 [debug] Driver 0: pos -9591, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16580, writes 0 timeouts 0
2025-04-29 05:45:06 [debug] Last sensors broadcast 0x00000000 found 0 207 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 87, 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 385, adv 36200/37090
2025-04-29 05:45:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10357, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4708, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:45:06 [info] currentZPosition:0.00129
2025-04-29 05:45:07 [debug] Stopped at height 0.002 mm
2025-04-29 05:45:07 [debug] Diagnostics for board 50:
2025-04-29 05:45:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:45:07 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:32:58 ago, cause: software
2025-04-29 05:45:07 [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
2025-04-29 05:45:07 [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
2025-04-29 05:45:07 [debug] Moves scheduled 24401, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=694, frequency (Hz): min=1051, max=15306
Sync err accum 73, peak jitter 1/3, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2607772529 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 32.7C, max 
2025-04-29 05:45:07 [debug] Driver 0: pos -9580, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17712, writes 0 timeouts 0
2025-04-29 05:45:07 [debug] Last sensors broadcast 0x00000000 found 0 1 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 94, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36178/37125
2025-04-29 05:45:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10257, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2266
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:45:07 [info] currentZPosition:0.00239
2025-04-29 05:45:09 [debug] Stopped at height 0.002 mm
2025-04-29 05:45:09 [debug] Diagnostics for board 50:
2025-04-29 05:45:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:45:09 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,3.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:33:00 ago, cause: software
2025-04-29 05:45:09 [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
2025-04-29 05:45:09 [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
2025-04-29 05:45:09 [debug] Moves scheduled 24405, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=562, frequency (Hz): min=1530, max=15306
Sync err accum 80, peak jitter 0/3, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2606740208 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 32.7C, max 
2025-04-29 05:45:09 [debug] Driver 0: pos -9584, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16609, writes 0 timeouts 0
2025-04-29 05:45:09 [debug] Last sensors broadcast 0x00000000 found 0 127 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 78, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36178/37103
2025-04-29 05:45:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2266
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10283, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4708, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:45:09 [info] currentZPosition:0.00199
2025-04-29 05:45:10 [debug] Stopped at height 0.002 mm
2025-04-29 05:45:10 [debug] Diagnostics for board 50:
2025-04-29 05:45:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:45:10 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:33:01 ago, cause: software
2025-04-29 05:45:10 [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
2025-04-29 05:45:10 [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
2025-04-29 05:45:10 [debug] Moves scheduled 24409, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 191, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=792, frequency (Hz): min=1121, max=15306
Sync err accum 77, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2605563988 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 32.7C, max
2025-04-29 05:45:10 [debug] Driver 0: pos -9581, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18181, writes 0 timeouts 0
2025-04-29 05:45:10 [debug] Last sensors broadcast 0x00000000 found 0 196 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 92, 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 355, adv 36112/37134
2025-04-29 05:45:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2266
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10266, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:45:10 [info] currentZPosition:0.00229
2025-04-29 05:45:12 [debug] Stopped at height 0.002 mm
2025-04-29 05:45:12 [debug] Diagnostics for board 50:
2025-04-29 05:45:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:45:12 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:33:03 ago, cause: software
2025-04-29 05:45:12 [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
2025-04-29 05:45:12 [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
2025-04-29 05:45:12 [debug] Moves scheduled 24413, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=576, frequency (Hz): min=1549, max=15306
Sync err accum 64, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2604533857 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 32.7C, ma
2025-04-29 05:45:12 [debug] Driver 0: pos -9584, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16500, writes 0 timeouts 0
2025-04-29 05:45:12 [debug] Last sensors broadcast 0x00000000 found 0 69 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 78, 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 397, adv 36183/37111
2025-04-29 05:45:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2268
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10258, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4709, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:45:12 [info] currentZPosition:0.00199
2025-04-29 05:45:13 [debug] Stopped at height 0.001 mm
2025-04-29 05:45:13 [debug] Diagnostics for board 50:
2025-04-29 05:45:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:45:13 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:33:04 ago, cause: software
2025-04-29 05:45:13 [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
2025-04-29 05:45:13 [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
2025-04-29 05:45:13 [debug] Moves scheduled 24417, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=458, frequency (Hz): min=666, max=15306
Sync err accum 66, peak jitter -2/2, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2603335165 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 32.7C, max 
2025-04-29 05:45:13 [debug] Driver 0: pos -9594, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18355, writes 11 timeouts 1
2025-04-29 05:45:13 [debug] Last sensors broadcast 0x00000000 found 0 167 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 101, 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 355, adv 36112/37159
2025-04-29 05:45:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2269
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10327, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4711, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:45:13 [info] currentZPosition:9.940e-4
2025-04-29 05:45:14 [debug] Stopped at height 0.001 mm
2025-04-29 05:45:14 [debug] Diagnostics for board 50:
2025-04-29 05:45:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:45:14 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:33:06 ago, cause: software
2025-04-29 05:45:14 [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
2025-04-29 05:45:14 [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
2025-04-29 05:45:14 [debug] Moves scheduled 24421, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 160, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=481, frequency (Hz): min=1716, max=15306
Sync err accum 72, peak jitter 0/2, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 2602321676 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:45:14 [debug] Driver 0: pos -9589, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16193, writes 0 timeouts 0
2025-04-29 05:45:14 [debug] Last sensors broadcast 0x00000000 found 0 22 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 82, 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 435, adv 36185/37154
2025-04-29 05:45:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10307, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:45:15 [info] currentZPosition:0.00149
2025-04-29 05:45:16 [debug] Stopped at height 0.002 mm
2025-04-29 05:45:16 [debug] Diagnostics for board 50:
2025-04-29 05:45:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:45:16 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,8.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:33:07 ago, cause: software
2025-04-29 05:45:16 [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
2025-04-29 05:45:16 [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
2025-04-29 05:45:16 [debug] Moves scheduled 24425, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 160, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=542, frequency (Hz): min=1383, max=15306
Sync err accum 70, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2601148084 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 32.7C, max
2025-04-29 05:45:16 [debug] Driver 0: pos -9585, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17829, writes 0 timeouts 0
2025-04-29 05:45:16 [debug] Last sensors broadcast 0x00000000 found 0 84 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 97, 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 402, adv 36149/37075
2025-04-29 05:45:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2267
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10298, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:45:16 [info] currentZPosition:0.00189
2025-04-29 05:45:17 [debug] Stopped at height 0.002 mm
2025-04-29 05:45:17 [debug] Diagnostics for board 50:
2025-04-29 05:45:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:45:17 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:33:09 ago, cause: software
2025-04-29 05:45:17 [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
2025-04-29 05:45:17 [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
2025-04-29 05:45:17 [debug] Moves scheduled 24429, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 310, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=905, frequency (Hz): min=937, max=15306
Sync err accum 61, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2600125652 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 32.7C, max
2025-04-29 05:45:17 [debug] Driver 0: pos -9586, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16377, writes 0 timeouts 0
2025-04-29 05:45:17 [debug] Last sensors broadcast 0x00000000 found 0 195 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 81, 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 377, adv 36199/37108
2025-04-29 05:45:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10293, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:45:18 [info] currentZPosition:0.00179
2025-04-29 05:45:19 [debug] Stopped at height 0.002 mm
2025-04-29 05:45:19 [debug] Diagnostics for board 50:
2025-04-29 05:45:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:45:19 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:33:10 ago, cause: software
2025-04-29 05:45:19 [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
2025-04-29 05:45:19 [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
2025-04-29 05:45:19 [debug] Moves scheduled 24433, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 166, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=521, frequency (Hz): min=1325, max=15306
Sync err accum 73, peak jitter 0/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2598946934 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 05:45:19 [debug] Driver 0: pos -9585, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18049, writes 0 timeouts 0
2025-04-29 05:45:19 [debug] Last sensors broadcast 0x00000000 found 0 19 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 95, 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 369, adv 36111/37091
2025-04-29 05:45:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2269
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10263, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4712, no error
Lin: Encoder reverse polarity: no, raw count 2268
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:45:19 [info] currentZPosition:0.00189
2025-04-29 05:45:20 [debug] Stopped at height 0.001 mm
2025-04-29 05:45:20 [debug] Diagnostics for board 50:
2025-04-29 05:45:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:45:20 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:33:12 ago, cause: software
2025-04-29 05:45:20 [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
2025-04-29 05:45:20 [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
2025-04-29 05:45:20 [debug] Moves scheduled 24437, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=629, frequency (Hz): min=1262, max=15306
Sync err accum 80, peak jitter -1/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2597902300 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:45:20 [debug] Driver 0: pos -9595, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16615, writes 0 timeouts 0
2025-04-29 05:45:20 [debug] Last sensors broadcast 0x00000000 found 0 161 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 84, 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 367, adv 36209/37151
2025-04-29 05:45:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10345, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:45:20 [info] currentZPosition:8.946e-4
2025-04-29 05:45:22 [debug] Stopped at height 0.002 mm
2025-04-29 05:45:22 [debug] Diagnostics for board 50:
2025-04-29 05:45:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:45:22 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,68.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,8.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:33:13 ago, cause: software
2025-04-29 05:45:22 [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
2025-04-29 05:45:22 [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
2025-04-29 05:45:22 [debug] Moves scheduled 24441, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=634, frequency (Hz): min=1282, max=15306
Sync err accum 79, peak jitter -1/0, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2596740325 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:45:22 [debug] Driver 0: pos -9582, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17610, writes 0 timeouts 0
2025-04-29 05:45:22 [debug] Last sensors broadcast 0x00000000 found 0 208 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 91, 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 396, adv 36151/37133
2025-04-29 05:45:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2266
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10255, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:45:22 [info] currentZPosition:0.00229
2025-04-29 05:45:22 [debug] Stopped at height 0.001 mm
2025-04-29 05:45:24 [debug] Stopped at height 0.002 mm
2025-04-29 05:45:24 [debug] Diagnostics for board 50:
2025-04-29 05:45:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:45:24 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,3.8%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:33:15 ago, cause: software
2025-04-29 05:45:24 [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
2025-04-29 05:45:24 [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
2025-04-29 05:45:24 [debug] Moves scheduled 24447, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 306, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=494, frequency (Hz): min=1670, max=15306
Sync err accum 68, peak jitter -2/-1, peak Rx delay 193, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2595481023 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 32.7C, ma
2025-04-29 05:45:24 [debug] Driver 0: pos -9585, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20270, writes 0 timeouts 0
2025-04-29 05:45:24 [debug] Last sensors broadcast 0x00000000 found 0 142 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 91, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36180/37128
2025-04-29 05:45:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10291, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2265
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:45:24 [info] currentZPosition:0.00199
2025-04-29 05:45:25 [debug] Stopped at height 0.001 mm
2025-04-29 05:45:25 [debug] Diagnostics for board 50:
2025-04-29 05:45:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:45:25 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,8.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:33:16 ago, cause: software
2025-04-29 05:45:25 [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
2025-04-29 05:45:25 [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
2025-04-29 05:45:25 [debug] Moves scheduled 24451, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 160, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=784, frequency (Hz): min=1182, max=15306
Sync err accum 64, peak jitter -2/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2594289126 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 32.7C, max
2025-04-29 05:45:25 [debug] Driver 0: pos -9590, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18167, writes 0 timeouts 0
2025-04-29 05:45:25 [debug] Last sensors broadcast 0x00000000 found 0 227 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 97, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36098/37109
2025-04-29 05:45:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10332, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:45:25 [info] currentZPosition:0.00149
2025-04-29 05:45:27 [debug] Stopped at height 0.001 mm
2025-04-29 05:45:27 [debug] Diagnostics for board 50:
2025-04-29 05:45:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:45:27 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:33:18 ago, cause: software
2025-04-29 05:45:27 [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
2025-04-29 05:45:27 [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
2025-04-29 05:45:27 [debug] Moves scheduled 24455, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 254, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=717, frequency (Hz): min=1040, max=15306
Sync err accum 72, peak jitter 1/2, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 2593245853 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:45:27 [debug] Driver 0: pos -9599, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16673, writes 0 timeouts 0
2025-04-29 05:45:27 [debug] Last sensors broadcast 0x00000000 found 0 120 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 91, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 351, adv 36223/37162
2025-04-29 05:45:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2268
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10351, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:45:27 [info] currentZPosition:5.964e-4
2025-04-29 05:45:28 [debug] Stopped at height 0.001 mm
2025-04-29 05:45:28 [debug] Diagnostics for board 50:
2025-04-29 05:45:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:45:28 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,68.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,8.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:33:19 ago, cause: software
2025-04-29 05:45:28 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 05:45:28 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 05:45:28 [debug] Moves scheduled 24459, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=712, frequency (Hz): min=1153, max=15306
Sync err accum 70, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, disabled, next step interrupt due in 2592060295 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 05:45:28 [debug] Driver 0: pos -9597, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17967, writes 0 timeouts 0
2025-04-29 05:45:28 [debug] Last sensors broadcast 0x00000000 found 0 201 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 108, 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 475, adv 36107/37114
2025-04-29 05:45:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10369, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:45:28 [info] currentZPosition:8.946e-4
2025-04-29 05:45:30 [debug] Stopped at height 0.001 mm
2025-04-29 05:45:30 [debug] Diagnostics for board 50:
2025-04-29 05:45:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:45:30 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:33:21 ago, cause: software
2025-04-29 05:45:30 [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
2025-04-29 05:45:30 [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
2025-04-29 05:45:30 [debug] Moves scheduled 24463, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=644, frequency (Hz): min=1358, max=15306
Sync err accum 62, peak jitter -2/-1, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2591040554 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 32.7C, ma
2025-04-29 05:45:30 [debug] Driver 0: pos -9593, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16245, writes 0 timeouts 0
2025-04-29 05:45:30 [debug] Last sensors broadcast 0x00000000 found 0 59 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 83, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36222/37117
2025-04-29 05:45:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10355, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4707, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:45:30 [info] currentZPosition:0.00139
2025-04-29 05:45:31 [debug] Stopped at height 0.001 mm
2025-04-29 05:45:31 [debug] Diagnostics for board 50:
2025-04-29 05:45:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:45:31 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,8.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:33:22 ago, cause: software
2025-04-29 05:45:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 05:45:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 05:45:31 [debug] Moves scheduled 24467, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 306, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=566, frequency (Hz): min=1503, max=20270
Sync err accum 73, peak jitter 0/2, peak Rx delay 223, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 2589851153 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:45:31 [debug] Driver 0: pos -9595, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18137, writes 0 timeouts 0
2025-04-29 05:45:31 [debug] Last sensors broadcast 0x00000000 found 0 147 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 103, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36080/37103
2025-04-29 05:45:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2269
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10322, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:45:31 [info] currentZPosition:0.00119
2025-04-29 05:45:32 [debug] Stopped at height 0.001 mm
2025-04-29 05:45:32 [debug] Diagnostics for board 50:
2025-04-29 05:45:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:45:32 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.0%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:33:24 ago, cause: software
2025-04-29 05:45:32 [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
2025-04-29 05:45:32 [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
2025-04-29 05:45:32 [debug] Moves scheduled 24471, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 160, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=762, frequency (Hz): min=1023, max=15306
Sync err accum 77, peak jitter 0/1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2588827250 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:45:32 [debug] Driver 0: pos -9592, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16216, writes 0 timeouts 0
2025-04-29 05:45:32 [debug] Last sensors broadcast 0x00000000 found 0 8 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 86, 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 389, adv 36178/37165
2025-04-29 05:45:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2269
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10344, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:45:33 [info] currentZPosition:0.00149
2025-04-29 05:45:34 [debug] Stopped at height 0.002 mm
2025-04-29 05:45:34 [debug] Diagnostics for board 50:
2025-04-29 05:45:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:45:34 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,8.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:33:25 ago, cause: software
2025-04-29 05:45:34 [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
2025-04-29 05:45:34 [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
2025-04-29 05:45:34 [debug] Moves scheduled 24475, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 162, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=694, frequency (Hz): min=1336, max=15306
Sync err accum 72, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2587658146 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 32.7C, max
2025-04-29 05:45:34 [debug] Driver 0: pos -9587, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17880, writes 0 timeouts 0
2025-04-29 05:45:34 [debug] Last sensors broadcast 0x00000000 found 0 69 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 90, 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 347, adv 36122/37116
2025-04-29 05:45:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2268
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10312, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:45:34 [info] currentZPosition:0.00199
2025-04-29 05:45:35 [debug] Stopped at height 0.003 mm
2025-04-29 05:45:35 [debug] Diagnostics for board 50:
2025-04-29 05:45:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:45:35 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:33:27 ago, cause: software
2025-04-29 05:45:35 [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
2025-04-29 05:45:35 [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
2025-04-29 05:45:35 [debug] Moves scheduled 24479, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 161, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=654, frequency (Hz): min=1215, max=15306
Sync err accum 62, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2586650169 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 32.7C, ma
2025-04-29 05:45:35 [debug] Driver 0: pos -9580, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16168, writes 0 timeouts 0
2025-04-29 05:45:35 [debug] Last sensors broadcast 0x00000000 found 0 164 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 76, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36191/37139
2025-04-29 05:45:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2265
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10239, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4707, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:45:35 [info] currentZPosition:0.00268
2025-04-29 05:45:37 [debug] Stopped at height 0.001 mm
2025-04-29 05:45:37 [debug] Diagnostics for board 50:
2025-04-29 05:45:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:45:37 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:33:28 ago, cause: software
2025-04-29 05:45:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 05:45:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 05:45:37 [debug] Moves scheduled 24483, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=538, frequency (Hz): min=1209, max=15306
Sync err accum 71, peak jitter -2/3, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 2585438502 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:45:37 [debug] Driver 0: pos -9596, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18526, writes 0 timeouts 0
2025-04-29 05:45:37 [debug] Last sensors broadcast 0x00000000 found 0 29 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 102, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36119/37167
2025-04-29 05:45:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10374, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2268
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:45:37 [info] currentZPosition:0.00109
2025-04-29 05:45:37 [debug] Stopped at height 0.001 mm
2025-04-29 05:45:39 [debug] Stopped at height 0.003 mm
2025-04-29 05:45:39 [debug] Diagnostics for board 50:
2025-04-29 05:45:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:45:39 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.0%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:33:30 ago, cause: software
2025-04-29 05:45:39 [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
2025-04-29 05:45:39 [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
2025-04-29 05:45:39 [debug] Moves scheduled 24489, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=610, frequency (Hz): min=1306, max=15625
Sync err accum 80, peak jitter 1/2, peak Rx delay 186, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2584215652 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 32.7C, max 
2025-04-29 05:45:39 [debug] Driver 0: pos -9579, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 19668, writes 0 timeouts 0
2025-04-29 05:45:39 [debug] Last sensors broadcast 0x00000000 found 0 161 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 84, 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 388, adv 36271/37125
2025-04-29 05:45:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2265
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10273, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:45:39 [info] currentZPosition:0.00278
2025-04-29 05:45:39 [debug] Stopped at height 0.001 mm
2025-04-29 05:45:40 [debug] Stopped at height 0.003 mm
2025-04-29 05:45:40 [debug] Diagnostics for board 50:
2025-04-29 05:45:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:45:40 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:33:32 ago, cause: software
2025-04-29 05:45:40 [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
2025-04-29 05:45:40 [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
2025-04-29 05:45:40 [debug] Moves scheduled 24495, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=569, frequency (Hz): min=1241, max=15306
Sync err accum 74, peak jitter -2/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 2582799448 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:45:40 [debug] Driver 0: pos -9580, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 21841, writes 0 timeouts 0
2025-04-29 05:45:40 [debug] Last sensors broadcast 0x00000000 found 0 46 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 108, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36117/37114
2025-04-29 05:45:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2269
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10285, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2266
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:45:41 [info] currentZPosition:0.00268
2025-04-29 05:45:41 [debug] Stopped at height 0.001 mm
2025-04-29 05:45:42 [debug] Stopped at height 0.000 mm
2025-04-29 05:45:42 [debug] Diagnostics for board 50:
2025-04-29 05:45:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:45:42 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:33:34 ago, cause: software
2025-04-29 05:45:42 [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
2025-04-29 05:45:42 [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
2025-04-29 05:45:42 [debug] Moves scheduled 24501, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 435, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=588, frequency (Hz): min=1378, max=15625
Sync err accum 61, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2581493462 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 32.7C, max
2025-04-29 05:45:42 [debug] Driver 0: pos -9603, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20907, writes 0 timeouts 0
2025-04-29 05:45:42 [debug] Last sensors broadcast 0x00000000 found 0 41 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 112, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36184/37163
2025-04-29 05:45:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10394, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:45:42 [info] currentZPosition:4.970e-4
2025-04-29 05:45:44 [debug] Stopped at height 0.002 mm
2025-04-29 05:45:44 [debug] Diagnostics for board 50:
2025-04-29 05:45:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:45:44 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,68.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,8.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:33:35 ago, cause: software
2025-04-29 05:45:44 [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
2025-04-29 05:45:44 [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
2025-04-29 05:45:44 [debug] Moves scheduled 24505, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=661, frequency (Hz): min=1215, max=15306
Sync err accum 71, peak jitter 0/2, peak Rx delay 189, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2580343790 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 32.7C, max 
2025-04-29 05:45:44 [debug] Driver 0: pos -9585, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17412, writes 0 timeouts 0
2025-04-29 05:45:44 [debug] Last sensors broadcast 0x00000000 found 0 72 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 94, 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 375, adv 36164/37122
2025-04-29 05:45:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2264
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10273, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4708, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:45:44 [info] currentZPosition:0.00229
2025-04-29 05:45:44 [debug] Stopped at height 0.001 mm
2025-04-29 05:45:45 [debug] Stopped at height 0.002 mm
2025-04-29 05:45:45 [debug] Diagnostics for board 50:
2025-04-29 05:45:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:45:45 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,3.8%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 16:33:37 ago, cause: software
2025-04-29 05:45:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 05:45:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 05:45:45 [debug] Moves scheduled 24511, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 166, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=481, frequency (Hz): min=1506, max=15306
Sync err accum 78, peak jitter 0/2, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 2579079391 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:45:45 [debug] Driver 0: pos -9590, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20295, writes 0 timeouts 0
2025-04-29 05:45:45 [debug] Last sensors broadcast 0x00000000 found 0 7 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 96, 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 491, adv 36216/37101
2025-04-29 05:45:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2268
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10314, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4707, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:45:46 [info] currentZPosition:0.00179
2025-04-29 05:45:47 [debug] Stopped at height 0.001 mm
2025-04-29 05:45:47 [debug] Diagnostics for board 50:
2025-04-29 05:45:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:45:47 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,68.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,8.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:33:38 ago, cause: software
2025-04-29 05:45:47 [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
2025-04-29 05:45:47 [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
2025-04-29 05:45:47 [debug] Moves scheduled 24515, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=528, frequency (Hz): min=1509, max=15306
Sync err accum 74, peak jitter -1/0, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2577876630 ticks, 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
2025-04-29 05:45:47 [debug] Driver 0: pos -9600, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18163, writes 0 timeouts 0
2025-04-29 05:45:47 [debug] Last sensors broadcast 0x00000000 found 0 109 ticks ago, 0 ordering errs, loop time 2
CAN messages queued 109, 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 379, adv 36128/37147
2025-04-29 05:45:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10358, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:45:47 [info] currentZPosition:7.952e-4
2025-04-29 05:45:48 [debug] Stopped at height 0.002 mm
2025-04-29 05:45:48 [debug] Diagnostics for board 50:
2025-04-29 05:45:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:45:48 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:33:40 ago, cause: software
2025-04-29 05:45:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 05:45:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 05:45:48 [debug] Moves scheduled 24519, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 159, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=840, frequency (Hz): min=1098, max=15306
Sync err accum 65, peak jitter -2/-1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2576874020 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 05:45:48 [debug] Driver 0: pos -9586, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15904, writes 0 timeouts 0
2025-04-29 05:45:48 [debug] Last sensors broadcast 0x00000000 found 0 198 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 81, 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 383, adv 36198/37093
2025-04-29 05:45:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2269
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10287, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:45:49 [info] currentZPosition:0.00219
2025-04-29 05:45:49 [debug] Stopped at height 0.001 mm
2025-04-29 05:45:50 [debug] Stopped at height 0.002 mm
2025-04-29 05:45:50 [debug] Diagnostics for board 50:
2025-04-29 05:45:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:45:50 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:33:42 ago, cause: software
2025-04-29 05:45:50 [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
2025-04-29 05:45:50 [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
2025-04-29 05:45:50 [debug] Moves scheduled 24525, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=481, frequency (Hz): min=1838, max=15306
Sync err accum 69, peak jitter -3/2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2575465645 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 32.7C, max
2025-04-29 05:45:50 [debug] Driver 0: pos -9584, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 21702, writes 0 timeouts 0
2025-04-29 05:45:50 [debug] Last sensors broadcast 0x00000000 found 0 77 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 112, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36116/37126
2025-04-29 05:45:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10290, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2265
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:45:50 [info] currentZPosition:0.00249
2025-04-29 05:45:51 [debug] Stopped at height 0.002 mm
2025-04-29 05:45:52 [debug] Stopped at height 0.002 mm
2025-04-29 05:45:52 [debug] Diagnostics for board 50:
2025-04-29 05:45:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:45:52 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:33:43 ago, cause: software
2025-04-29 05:45:52 [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
2025-04-29 05:45:52 [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
2025-04-29 05:45:52 [debug] Moves scheduled 24531, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=636, frequency (Hz): min=1447, max=15306
Sync err accum 75, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2574189964 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 32.9C, max 
2025-04-29 05:45:52 [debug] Driver 0: pos -9591, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20476, writes 0 timeouts 0
2025-04-29 05:45:52 [debug] Last sensors broadcast 0x00000000 found 0 26 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 94, 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 508, adv 36231/37111
2025-04-29 05:45:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10361, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2267
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:45:52 [info] currentZPosition:0.00189
2025-04-29 05:45:54 [debug] Stopped at height 0.002 mm
2025-04-29 05:45:54 [debug] Diagnostics for board 50:
2025-04-29 05:45:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:45:54 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:33:45 ago, cause: software
2025-04-29 05:45:54 [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
2025-04-29 05:45:54 [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
2025-04-29 05:45:54 [debug] Moves scheduled 24535, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=593, frequency (Hz): min=1442, max=15625
Sync err accum 73, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2573018385 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 32.7C, max
2025-04-29 05:45:54 [debug] Driver 0: pos -9585, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17767, writes 0 timeouts 0
2025-04-29 05:45:54 [debug] Last sensors broadcast 0x00000000 found 0 91 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 99, 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 505, adv 36160/37119
2025-04-29 05:45:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10299, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:45:54 [info] currentZPosition:0.00249
2025-04-29 05:45:55 [debug] Stopped at height 0.002 mm
2025-04-29 05:45:55 [debug] Diagnostics for board 50:
2025-04-29 05:45:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:45:55 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,3.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:33:46 ago, cause: software
2025-04-29 05:45:55 [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
2025-04-29 05:45:55 [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
2025-04-29 05:45:55 [debug] Moves scheduled 24539, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 159, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=710, frequency (Hz): min=1275, max=15625
Sync err accum 64, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2571986673 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 32.7C, ma
2025-04-29 05:45:55 [debug] Driver 0: pos -9590, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16562, writes 0 timeouts 0
2025-04-29 05:45:55 [debug] Last sensors broadcast 0x00000000 found 0 214 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 79, 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 576, adv 36178/37158
2025-04-29 05:45:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10306, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:45:55 [info] currentZPosition:0.00199
2025-04-29 05:45:56 [debug] Stopped at height 0.002 mm
2025-04-29 05:45:56 [debug] Diagnostics for board 50:
2025-04-29 05:45:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:45:56 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,8.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:33:48 ago, cause: software
2025-04-29 05:45:56 [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
2025-04-29 05:45:56 [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
2025-04-29 05:45:56 [debug] Moves scheduled 24543, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=570, frequency (Hz): min=1302, max=15306
Sync err accum 66, peak jitter -2/2, peak Rx delay 186, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 2570803112 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:45:56 [debug] Driver 0: pos -9591, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18052, writes 0 timeouts 0
2025-04-29 05:45:56 [debug] Last sensors broadcast 0x00000000 found 0 43 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 101, 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 369, adv 36100/37123
2025-04-29 05:45:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2268
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10347, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:45:57 [info] currentZPosition:0.00189
2025-04-29 05:45:58 [debug] Stopped at height 0.002 mm
2025-04-29 05:45:58 [debug] Diagnostics for board 50:
2025-04-29 05:45:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:45:58 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.6%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:33:49 ago, cause: software
2025-04-29 05:45:58 [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
2025-04-29 05:45:58 [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
2025-04-29 05:45:58 [debug] Moves scheduled 24547, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 302, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=513, frequency (Hz): min=1630, max=15306
Sync err accum 68, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2569788624 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 32.7C, max 
2025-04-29 05:45:58 [debug] Driver 0: pos -9587, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16209, writes 0 timeouts 0
2025-04-29 05:45:58 [debug] Last sensors broadcast 0x00000000 found 0 150 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 80, 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 364, adv 36209/37128
2025-04-29 05:45:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10293, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:45:58 [info] currentZPosition:0.00229
2025-04-29 05:45:59 [debug] Stopped at height 0.002 mm
2025-04-29 05:45:59 [debug] Diagnostics for board 50:
2025-04-29 05:45:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:45:59 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:33:51 ago, cause: software
2025-04-29 05:45:59 [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
2025-04-29 05:45:59 [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
2025-04-29 05:45:59 [debug] Moves scheduled 24551, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=620, frequency (Hz): min=1450, max=15306
Sync err accum 67, peak jitter -1/1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 2568611018 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:45:59 [debug] Driver 0: pos -9586, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18045, writes 0 timeouts 0
2025-04-29 05:45:59 [debug] Last sensors broadcast 0x00000000 found 0 215 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 90, 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 373, adv 36117/37153
2025-04-29 05:45:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2268
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10264, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:46:00 [info] currentZPosition:0.00239
2025-04-29 05:46:01 [debug] Stopped at height 0.002 mm
2025-04-29 05:46:01 [debug] Diagnostics for board 50:
2025-04-29 05:46:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:46:01 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,3.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:33:52 ago, cause: software
2025-04-29 05:46:01 [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
2025-04-29 05:46:01 [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
2025-04-29 05:46:01 [debug] Moves scheduled 24555, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=680, frequency (Hz): min=1190, max=15306
Sync err accum 61, peak jitter -2/0, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 2567587683 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:46:01 [debug] Driver 0: pos -9587, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16415, writes 0 timeouts 0
2025-04-29 05:46:01 [debug] Last sensors broadcast 0x00000000 found 0 79 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 81, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36200/37116
2025-04-29 05:46:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2266
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10293, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:46:01 [info] currentZPosition:0.00229
2025-04-29 05:46:02 [debug] Stopped at height 0.002 mm
2025-04-29 05:46:02 [debug] Diagnostics for board 50:
2025-04-29 05:46:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:46:02 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:33:54 ago, cause: software
2025-04-29 05:46:02 [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
2025-04-29 05:46:02 [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
2025-04-29 05:46:02 [debug] Moves scheduled 24559, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 169, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=590, frequency (Hz): min=1399, max=15306
Sync err accum 71, peak jitter 0/3, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 2566401377 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:46:02 [debug] Driver 0: pos -9590, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18180, writes 0 timeouts 0
2025-04-29 05:46:02 [debug] Last sensors broadcast 0x00000000 found 0 164 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 99, 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 376, adv 36130/37169
2025-04-29 05:46:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2268
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10308, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:46:02 [info] currentZPosition:0.00199
2025-04-29 05:46:04 [debug] Stopped at height 0.003 mm
2025-04-29 05:46:04 [debug] Diagnostics for board 50:
2025-04-29 05:46:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:46:04 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:33:55 ago, cause: software
2025-04-29 05:46:04 [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
2025-04-29 05:46:04 [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
2025-04-29 05:46:04 [debug] Moves scheduled 24563, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 261, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=562, frequency (Hz): min=919, max=15306
Sync err accum 74, peak jitter 0/1, peak Rx delay 197, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2565390359 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, curr
2025-04-29 05:46:04 [debug] Driver 0: pos -9584, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16116, writes 11 timeouts 1
2025-04-29 05:46:04 [debug] Last sensors broadcast 0x00000000 found 0 8 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 78, 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 654, adv 36213/37102
2025-04-29 05:46:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2267
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10294, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4710, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:46:04 [info] currentZPosition:0.00258
2025-04-29 05:46:05 [debug] Stopped at height 0.001 mm
2025-04-29 05:46:05 [debug] Diagnostics for board 50:
2025-04-29 05:46:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:46:05 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.2%
Owned mutexes:
Last reset 16:33:57 ago, cause: software
2025-04-29 05:46:05 [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
2025-04-29 05:46:05 [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
2025-04-29 05:46:05 [debug] Moves scheduled 24567, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=636, frequency (Hz): min=664, max=15306
Sync err accum 67, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2564186120 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 32.9C, max 
2025-04-29 05:46:05 [debug] Driver 0: pos -9596, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18443, writes 11 timeouts 1
2025-04-29 05:46:05 [debug] Last sensors broadcast 0x00000000 found 0 117 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 104, 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 363, adv 36112/37109
2025-04-29 05:46:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10360, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:46:05 [info] currentZPosition:0.00139
2025-04-29 05:46:07 [debug] Stopped at height 0.002 mm
2025-04-29 05:46:07 [debug] Diagnostics for board 50:
2025-04-29 05:46:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:46:07 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:33:58 ago, cause: software
2025-04-29 05:46:07 [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
2025-04-29 05:46:07 [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
2025-04-29 05:46:07 [debug] Moves scheduled 24571, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=581, frequency (Hz): min=1404, max=15306
Sync err accum 62, peak jitter -2/1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2563170586 ticks, 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
2025-04-29 05:46:07 [debug] Driver 0: pos -9591, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16145, writes 0 timeouts 0
2025-04-29 05:46:07 [debug] Last sensors broadcast 0x00000000 found 0 221 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 82, 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 342, adv 36273/37130
2025-04-29 05:46:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10348, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:46:07 [info] currentZPosition:0.00189
2025-04-29 05:46:08 [debug] Stopped at height 0.002 mm
2025-04-29 05:46:08 [debug] Diagnostics for board 50:
2025-04-29 05:46:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:46:08 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,68.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,8.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:34:00 ago, cause: software
2025-04-29 05:46:08 [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
2025-04-29 05:46:08 [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
2025-04-29 05:46:08 [debug] Moves scheduled 24575, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 164, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=746, frequency (Hz): min=1245, max=15306
Sync err accum 70, peak jitter 0/2, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 2562000749 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:46:08 [debug] Driver 0: pos -9586, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17743, writes 0 timeouts 0
2025-04-29 05:46:08 [debug] Last sensors broadcast 0x00000000 found 0 28 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 93, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36087/37131
2025-04-29 05:46:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2267
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10287, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:46:08 [info] currentZPosition:0.00239
2025-04-29 05:46:10 [debug] Stopped at height 0.003 mm
2025-04-29 05:46:10 [debug] Diagnostics for board 50:
2025-04-29 05:46:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:46:10 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:34:01 ago, cause: software
2025-04-29 05:46:10 [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
2025-04-29 05:46:10 [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
2025-04-29 05:46:10 [debug] Moves scheduled 24579, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=509, frequency (Hz): min=1572, max=15306
Sync err accum 72, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2560987455 ticks, 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
2025-04-29 05:46:10 [debug] Driver 0: pos -9583, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16256, writes 0 timeouts 0
2025-04-29 05:46:10 [debug] Last sensors broadcast 0x00000000 found 0 131 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 78, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 365, adv 36230/37143
2025-04-29 05:46:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10288, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2266
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:46:10 [info] currentZPosition:0.00268
2025-04-29 05:46:11 [debug] Stopped at height 0.001 mm
2025-04-29 05:46:11 [debug] Diagnostics for board 50:
2025-04-29 05:46:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:46:11 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:34:02 ago, cause: software
2025-04-29 05:46:11 [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
2025-04-29 05:46:11 [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
2025-04-29 05:46:11 [debug] Moves scheduled 24583, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=693, frequency (Hz): min=977, max=15306
Sync err accum 66, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2559780697 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 32.9C, max 
2025-04-29 05:46:11 [debug] Driver 0: pos -9597, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18502, writes 0 timeouts 0
2025-04-29 05:46:11 [debug] Last sensors broadcast 0x00000000 found 0 241 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 99, 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 424, adv 36136/37104
2025-04-29 05:46:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10375, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2268
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:46:11 [info] currentZPosition:0.00129
2025-04-29 05:46:12 [debug] Stopped at height 0.000 mm
2025-04-29 05:46:13 [debug] Stopped at height 0.002 mm
2025-04-29 05:46:13 [debug] Diagnostics for board 50:
2025-04-29 05:46:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:46:13 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.6%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:34:04 ago, cause: software
2025-04-29 05:46:13 [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
2025-04-29 05:46:13 [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
2025-04-29 05:46:13 [debug] Moves scheduled 24589, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=625, frequency (Hz): min=1065, max=15306
Sync err accum 69, peak jitter -2/3, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 4294967192 ticks, disabled, next step interrupt due in 2558530688 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min
2025-04-29 05:46:13 [debug] Driver 0: pos -9588, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 19846, writes 11 timeouts 1
2025-04-29 05:46:13 [debug] Last sensors broadcast 0x00000000 found 0 151 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 100, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36167/37156
2025-04-29 05:46:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2267
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10297, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:46:13 [info] currentZPosition:0.00219
2025-04-29 05:46:13 [debug] Stopped at height 0.001 mm
2025-04-29 05:46:15 [debug] Stopped at height 0.002 mm
2025-04-29 05:46:15 [debug] Diagnostics for board 50:
2025-04-29 05:46:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:46:15 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:34:06 ago, cause: software
2025-04-29 05:46:15 [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
2025-04-29 05:46:15 [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
2025-04-29 05:46:15 [debug] Moves scheduled 24595, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=536, frequency (Hz): min=800, max=15306
Sync err accum 87, peak jitter 2/3, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2557127784 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 32.9C, max 3
2025-04-29 05:46:15 [debug] Driver 0: pos -9586, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 21689, writes 0 timeouts 0
2025-04-29 05:46:15 [debug] Last sensors broadcast 0x00000000 found 0 27 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 119, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36131/37162
2025-04-29 05:46:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10284, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2266
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:46:15 [info] currentZPosition:0.00239
2025-04-29 05:46:15 [debug] Stopped at height 0.001 mm
2025-04-29 05:46:16 [debug] Stopped at height 0.001 mm
2025-04-29 05:46:16 [debug] Diagnostics for board 50:
2025-04-29 05:46:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:46:16 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.0%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:34:08 ago, cause: software
2025-04-29 05:46:16 [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
2025-04-29 05:46:16 [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
2025-04-29 05:46:16 [debug] Moves scheduled 24601, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=658, frequency (Hz): min=1286, max=15306
Sync err accum 93, peak jitter -1/2, peak Rx delay 171, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2555854717 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 32.9C, max
2025-04-29 05:46:16 [debug] Driver 0: pos -9596, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20411, writes 0 timeouts 0
2025-04-29 05:46:16 [debug] Last sensors broadcast 0x00000000 found 0 226 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 101, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36267/37154
2025-04-29 05:46:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10335, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:46:17 [info] currentZPosition:0.00139
2025-04-29 05:46:18 [debug] Stopped at height 0.002 mm
2025-04-29 05:46:18 [debug] Diagnostics for board 50:
2025-04-29 05:46:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:46:18 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,68.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,8.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:34:09 ago, cause: software
2025-04-29 05:46:18 [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
2025-04-29 05:46:18 [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
2025-04-29 05:46:18 [debug] Moves scheduled 24605, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 160, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=584, frequency (Hz): min=1356, max=15625
Sync err accum 88, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2554683738 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 32.7C, max
2025-04-29 05:46:18 [debug] Driver 0: pos -9590, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17701, writes 0 timeouts 0
2025-04-29 05:46:18 [debug] Last sensors broadcast 0x00000000 found 0 36 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 103, 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 351, adv 36160/37155
2025-04-29 05:46:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2268
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10316, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4708, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:46:18 [info] currentZPosition:0.00209
2025-04-29 05:46:19 [debug] Stopped at height 0.001 mm
2025-04-29 05:46:19 [debug] Diagnostics for board 50:
2025-04-29 05:46:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:46:19 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:34:11 ago, cause: software
2025-04-29 05:46:19 [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
2025-04-29 05:46:19 [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
2025-04-29 05:46:19 [debug] Moves scheduled 24609, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 162, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=512, frequency (Hz): min=1575, max=15306
Sync err accum 78, peak jitter -3/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2553633689 ticks, 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
2025-04-29 05:46:19 [debug] Driver 0: pos -9604, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16692, writes 0 timeouts 0
2025-04-29 05:46:19 [debug] Last sensors broadcast 0x00000000 found 0 184 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 92, 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 428, adv 36230/37126
2025-04-29 05:46:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10407, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:46:19 [info] currentZPosition:6.958e-4
2025-04-29 05:46:20 [debug] Stopped at height -0.001 mm
2025-04-29 05:46:21 [debug] Stopped at height 0.003 mm
2025-04-29 05:46:21 [debug] Diagnostics for board 50:
2025-04-29 05:46:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:46:21 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:34:13 ago, cause: software
2025-04-29 05:46:21 [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
2025-04-29 05:46:21 [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
2025-04-29 05:46:21 [debug] Moves scheduled 24615, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 245, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=552, frequency (Hz): min=714, max=15306
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 2552243496 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:46:21 [debug] Driver 0: pos -9587, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 21374, writes 11 timeouts 1
2025-04-29 05:46:21 [debug] Last sensors broadcast 0x00000000 found 0 43 ticks ago, 0 ordering errs, loop time 2
CAN messages queued 116, 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 593, adv 36095/37123
2025-04-29 05:46:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2268
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10270, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:46:21 [info] currentZPosition:0.00258
2025-04-29 05:46:22 [debug] Stopped at height 0.001 mm
2025-04-29 05:46:23 [debug] Stopped at height 0.003 mm
2025-04-29 05:46:23 [debug] Diagnostics for board 50:
2025-04-29 05:46:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:46:23 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.1%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:34:14 ago, cause: software
2025-04-29 05:46:23 [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
2025-04-29 05:46:23 [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
2025-04-29 05:46:23 [debug] Moves scheduled 24621, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=649, frequency (Hz): min=1431, max=15306
Sync err accum 75, peak jitter -1/3, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 4294967244 ticks, disabled, next step interrupt due in 2550981285 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min
2025-04-29 05:46:23 [debug] Driver 0: pos -9588, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20196, writes 0 timeouts 0
2025-04-29 05:46:23 [debug] Last sensors broadcast 0x00000000 found 0 223 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 93, 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 366, adv 36219/37113
2025-04-29 05:46:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2269
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10308, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:46:23 [info] currentZPosition:0.00258
2025-04-29 05:46:23 [debug] Stopped at height 0.002 mm
2025-04-29 05:46:25 [debug] Stopped at height 0.001 mm
2025-04-29 05:46:25 [debug] Diagnostics for board 50:
2025-04-29 05:46:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:46:25 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.4%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:34:16 ago, cause: software
2025-04-29 05:46:25 [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
2025-04-29 05:46:25 [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
2025-04-29 05:46:25 [debug] Moves scheduled 24627, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 322, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=569, frequency (Hz): min=1329, max=15625
Sync err accum 91, peak jitter 1/3, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 2549527469 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:46:25 [debug] Driver 0: pos -9607, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 22327, writes 0 timeouts 0
2025-04-29 05:46:25 [debug] Last sensors broadcast 0x00000000 found 0 161 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 126, 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 379, adv 36087/37101
2025-04-29 05:46:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10387, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:46:25 [info] currentZPosition:6.958e-4
2025-04-29 05:46:25 [debug] Stopped at height 0.001 mm
2025-04-29 05:46:26 [debug] Stopped at height 0.002 mm
2025-04-29 05:46:27 [debug] Diagnostics for board 50:
2025-04-29 05:46:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:46:27 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.3%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:34:18 ago, cause: software
2025-04-29 05:46:27 [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
2025-04-29 05:46:27 [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
2025-04-29 05:46:27 [debug] Moves scheduled 24633, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=644, frequency (Hz): min=1346, max=15625
Sync err accum 96, peak jitter 0/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2548292821 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 05:46:27 [debug] Driver 0: pos -9592, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 19748, writes 0 timeouts 0
2025-04-29 05:46:27 [debug] Last sensors broadcast 0x00000000 found 0 56 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 97, 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 383, adv 36191/37103
2025-04-29 05:46:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10347, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2267
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:46:27 [info] currentZPosition:0.00219
2025-04-29 05:46:28 [debug] Stopped at height 0.001 mm
2025-04-29 05:46:28 [debug] Diagnostics for board 50:
2025-04-29 05:46:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:46:28 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:34:19 ago, cause: software
2025-04-29 05:46:28 [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
2025-04-29 05:46:28 [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
2025-04-29 05:46:28 [debug] Moves scheduled 24637, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=768, frequency (Hz): min=1186, max=15306
Sync err accum 92, peak jitter -1/1, peak Rx delay 184, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2547079184 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 32.7C, max
2025-04-29 05:46:28 [debug] Driver 0: pos -9606, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18346, writes 0 timeouts 0
2025-04-29 05:46:28 [debug] Last sensors broadcast 0x00000000 found 0 177 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 118, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36082/37105
2025-04-29 05:46:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10388, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:46:28 [info] currentZPosition:8.946e-4
2025-04-29 05:46:29 [debug] Stopped at height 0.000 mm
2025-04-29 05:46:30 [debug] Stopped at height 0.003 mm
2025-04-29 05:46:30 [debug] Diagnostics for board 50:
2025-04-29 05:46:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:46:30 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.0%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:34:21 ago, cause: software
2025-04-29 05:46:30 [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
2025-04-29 05:46:30 [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
2025-04-29 05:46:30 [debug] Moves scheduled 24643, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 549, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=877, frequency (Hz): min=1025, max=15306
Sync err accum 79, peak jitter -3/-1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 2545847550 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 05:46:30 [debug] Driver 0: pos -9587, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 19559, writes 0 timeouts 0
2025-04-29 05:46:30 [debug] Last sensors broadcast 0x00000000 found 0 66 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 96, 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 405, adv 36211/37122
2025-04-29 05:46:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10320, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:46:30 [info] currentZPosition:0.00278
2025-04-29 05:46:30 [debug] Stopped at height 0.001 mm
2025-04-29 05:46:32 [debug] Stopped at height 0.003 mm
2025-04-29 05:46:32 [debug] Diagnostics for board 50:
2025-04-29 05:46:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:46:32 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.3%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:34:23 ago, cause: software
2025-04-29 05:46:32 [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
2025-04-29 05:46:32 [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
2025-04-29 05:46:32 [debug] Moves scheduled 24649, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 570, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=638, frequency (Hz): min=1256, max=15306
Sync err accum 59, peak jitter -3/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2544439372 ticks, 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
2025-04-29 05:46:32 [debug] Driver 0: pos -9587, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 21706, writes 0 timeouts 0
2025-04-29 05:46:32 [debug] Last sensors broadcast 0x00000000 found 0 195 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 117, 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 416, adv 36131/37155
2025-04-29 05:46:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10300, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2267
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:46:32 [info] currentZPosition:0.00278
2025-04-29 05:46:32 [debug] Stopped at height 0.002 mm
2025-04-29 05:46:33 [debug] Stopped at height 0.003 mm
2025-04-29 05:46:33 [debug] Diagnostics for board 50:
2025-04-29 05:46:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:46:33 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,3.5%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:34:25 ago, cause: software
2025-04-29 05:46:33 [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
2025-04-29 05:46:33 [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
2025-04-29 05:46:33 [debug] Moves scheduled 24655, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=778, frequency (Hz): min=1090, max=15306
Sync err accum 72, peak jitter 0/4, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 2543178717 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:46:33 [debug] Driver 0: pos -9588, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20322, writes 0 timeouts 0
2025-04-29 05:46:33 [debug] Last sensors broadcast 0x00000000 found 0 125 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 90, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 368, adv 36262/37167
2025-04-29 05:46:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2269
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10288, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:46:33 [info] currentZPosition:0.00268
2025-04-29 05:46:35 [debug] Stopped at height 0.002 mm
2025-04-29 05:46:35 [debug] Diagnostics for board 50:
2025-04-29 05:46:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:46:35 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,68.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,8.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:34:26 ago, cause: software
2025-04-29 05:46:35 [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
2025-04-29 05:46:35 [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
2025-04-29 05:46:35 [debug] Moves scheduled 24659, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=762, frequency (Hz): min=1184, max=15306
Sync err accum 80, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2541992169 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 32.7C, max 
2025-04-29 05:46:35 [debug] Driver 0: pos -9590, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18094, writes 0 timeouts 0
2025-04-29 05:46:35 [debug] Last sensors broadcast 0x00000000 found 0 208 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 99, 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 348, adv 36130/37119
2025-04-29 05:46:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10310, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2267
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:46:35 [info] currentZPosition:0.00249
2025-04-29 05:46:36 [debug] Stopped at height 0.002 mm
2025-04-29 05:46:36 [debug] Diagnostics for board 50:
2025-04-29 05:46:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:46:36 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.0%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:34:28 ago, cause: software
2025-04-29 05:46:36 [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
2025-04-29 05:46:36 [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
2025-04-29 05:46:36 [debug] Moves scheduled 24663, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=709, frequency (Hz): min=1250, max=15306
Sync err accum 81, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2540959841 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 32.7C, max
2025-04-29 05:46:36 [debug] Driver 0: pos -9591, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16514, writes 0 timeouts 0
2025-04-29 05:46:36 [debug] Last sensors broadcast 0x00000000 found 0 84 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 86, send timeouts 0, received 22, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36226/37093
2025-04-29 05:46:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10345, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:46:36 [info] currentZPosition:0.00239
2025-04-29 05:46:38 [debug] Stopped at height 0.001 mm
2025-04-29 05:46:38 [debug] Diagnostics for board 50:
2025-04-29 05:46:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:46:38 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,68.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,8.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:34:29 ago, cause: software
2025-04-29 05:46:38 [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
2025-04-29 05:46:38 [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
2025-04-29 05:46:38 [debug] Moves scheduled 24667, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 261, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=584, frequency (Hz): min=1213, max=15306
Sync err accum 73, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 2539749159 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:46:38 [debug] Driver 0: pos -9605, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18361, writes 0 timeouts 0
2025-04-29 05:46:38 [debug] Last sensors broadcast 0x00000000 found 0 196 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 108, 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 403, adv 36125/37080
2025-04-29 05:46:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10421, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:46:38 [info] currentZPosition:9.940e-4
2025-04-29 05:46:38 [debug] Stopped at height 0.001 mm
2025-04-29 05:46:40 [debug] Stopped at height 0.002 mm
2025-04-29 05:46:40 [debug] Diagnostics for board 50:
2025-04-29 05:46:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:46:40 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.5%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:34:31 ago, cause: software
2025-04-29 05:46:40 [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
2025-04-29 05:46:40 [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
2025-04-29 05:46:40 [debug] Moves scheduled 24673, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=613, frequency (Hz): min=1225, max=15306
Sync err accum 58, peak jitter -3/-1, peak Rx delay 186, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2538511884 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 32.7C, ma
2025-04-29 05:46:40 [debug] Driver 0: pos -9592, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 19786, writes 0 timeouts 0
2025-04-29 05:46:40 [debug] Last sensors broadcast 0x00000000 found 0 98 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 100, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36255/37132
2025-04-29 05:46:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10321, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:46:40 [info] currentZPosition:0.00229
2025-04-29 05:46:40 [debug] Stopped at height 0.001 mm
2025-04-29 05:46:41 [debug] Stopped at height 0.003 mm
2025-04-29 05:46:41 [debug] Diagnostics for board 50:
2025-04-29 05:46:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:46:41 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.4%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:34:33 ago, cause: software
2025-04-29 05:46:41 [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
2025-04-29 05:46:41 [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
2025-04-29 05:46:41 [debug] Moves scheduled 24679, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=654, frequency (Hz): min=1031, max=15306
Sync err accum 73, peak jitter 0/4, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2537112875 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 05:46:41 [debug] Driver 0: pos -9585, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 21519, writes 0 timeouts 0
2025-04-29 05:46:41 [debug] Last sensors broadcast 0x00000000 found 0 212 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 109, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36173/37149
2025-04-29 05:46:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2266
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10259, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:46:42 [info] currentZPosition:0.00298
2025-04-29 05:46:42 [debug] Stopped at height 0.002 mm
2025-04-29 05:46:43 [debug] Stopped at height 0.002 mm
2025-04-29 05:46:43 [debug] Diagnostics for board 50:
2025-04-29 05:46:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:46:43 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,3.8%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:34:34 ago, cause: software
2025-04-29 05:46:43 [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
2025-04-29 05:46:43 [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
2025-04-29 05:46:43 [debug] Moves scheduled 24685, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 242, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=505, frequency (Hz): min=1681, max=15625
Sync err accum 84, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2535840606 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 32.9C, max 
2025-04-29 05:46:43 [debug] Driver 0: pos -9594, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20453, writes 0 timeouts 0
2025-04-29 05:46:43 [debug] Last sensors broadcast 0x00000000 found 0 162 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 94, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36235/37161
2025-04-29 05:46:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10333, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4707, no error
Lin: Encoder reverse polarity: no, raw count 2268
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:46:43 [info] currentZPosition:0.00209
2025-04-29 05:46:45 [debug] Stopped at height 0.001 mm
2025-04-29 05:46:45 [debug] Diagnostics for board 50:
2025-04-29 05:46:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:46:45 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,68.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,8.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:34:36 ago, cause: software
2025-04-29 05:46:45 [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
2025-04-29 05:46:45 [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
2025-04-29 05:46:45 [debug] Moves scheduled 24689, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 160, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=642, frequency (Hz): min=1412, max=15306
Sync err accum 87, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2534642500 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 32.7C, max 
2025-04-29 05:46:45 [debug] Driver 0: pos -9602, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18214, writes 0 timeouts 0
2025-04-29 05:46:45 [debug] Last sensors broadcast 0x00000000 found 0 7 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 114, 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 373, adv 36083/37106
2025-04-29 05:46:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10383, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:46:45 [info] currentZPosition:0.00129
2025-04-29 05:46:46 [debug] Stopped at height 0.003 mm
2025-04-29 05:46:46 [debug] Diagnostics for board 50:
2025-04-29 05:46:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:46:46 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:34:37 ago, cause: software
2025-04-29 05:46:46 [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
2025-04-29 05:46:46 [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
2025-04-29 05:46:46 [debug] Moves scheduled 24693, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 241, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=577, frequency (Hz): min=1201, max=15306
Sync err accum 83, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2533648199 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 32.7C, max
2025-04-29 05:46:46 [debug] Driver 0: pos -9588, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15881, writes 0 timeouts 0
2025-04-29 05:46:46 [debug] Last sensors broadcast 0x00000000 found 0 82 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 77, 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 806, adv 36269/37110
2025-04-29 05:46:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2268
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10290, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4707, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:46:46 [info] currentZPosition:0.00278
2025-04-29 05:46:46 [debug] Stopped at height 0.002 mm
2025-04-29 05:46:48 [debug] Stopped at height 0.002 mm
2025-04-29 05:46:48 [debug] Diagnostics for board 50:
2025-04-29 05:46:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:46:48 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.9%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:34:39 ago, cause: software
2025-04-29 05:46:48 [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
2025-04-29 05:46:48 [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
2025-04-29 05:46:48 [debug] Moves scheduled 24699, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=657, frequency (Hz): min=1386, max=15306
Sync err accum 68, peak jitter -3/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 2532209274 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 05:46:48 [debug] Driver 0: pos -9599, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 22270, writes 0 timeouts 0
2025-04-29 05:46:48 [debug] Last sensors broadcast 0x00000000 found 0 4 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 113, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36091/37128
2025-04-29 05:46:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10340, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:46:48 [info] currentZPosition:0.00169
2025-04-29 05:46:49 [debug] Stopped at height 0.002 mm
2025-04-29 05:46:49 [debug] Diagnostics for board 50:
2025-04-29 05:46:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:46:49 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.9%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:34:41 ago, cause: software
2025-04-29 05:46:49 [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
2025-04-29 05:46:49 [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
2025-04-29 05:46:49 [debug] Moves scheduled 24703, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=660, frequency (Hz): min=1295, max=15306
Sync err accum 61, peak jitter -3/1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2531194549 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 32.9C, max
2025-04-29 05:46:49 [debug] Driver 0: pos -9593, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16090, writes 0 timeouts 0
2025-04-29 05:46:49 [debug] Last sensors broadcast 0x00000000 found 0 105 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 84, 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 411, adv 36206/37124
2025-04-29 05:46:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2266
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10332, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:46:49 [info] currentZPosition:0.00219
2025-04-29 05:46:51 [debug] Stopped at height 0.002 mm
2025-04-29 05:46:51 [debug] Diagnostics for board 50:
2025-04-29 05:46:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:46:51 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,68.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,8.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:34:42 ago, cause: software
2025-04-29 05:46:51 [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
2025-04-29 05:46:51 [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
2025-04-29 05:46:51 [debug] Moves scheduled 24707, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=750, frequency (Hz): min=1031, max=15306
Sync err accum 79, peak jitter 2/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2530014067 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:46:51 [debug] Driver 0: pos -9591, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17882, writes 0 timeouts 0
2025-04-29 05:46:51 [debug] Last sensors broadcast 0x00000000 found 0 178 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 103, 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 351, adv 36050/37144
2025-04-29 05:46:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10325, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:46:51 [info] currentZPosition:0.00239
2025-04-29 05:46:52 [debug] Stopped at height 0.002 mm
2025-04-29 05:46:52 [debug] Diagnostics for board 50:
2025-04-29 05:46:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:46:52 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.5%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:34:44 ago, cause: software
2025-04-29 05:46:52 [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
2025-04-29 05:46:52 [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
2025-04-29 05:46:52 [debug] Moves scheduled 24711, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=636, frequency (Hz): min=1361, max=15306
Sync err accum 85, peak jitter 0/2, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2528990612 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 32.9C, max 
2025-04-29 05:46:52 [debug] Driver 0: pos -9591, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16348, writes 0 timeouts 0
2025-04-29 05:46:52 [debug] Last sensors broadcast 0x00000000 found 0 44 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 83, 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 396, adv 36161/37166
2025-04-29 05:46:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10355, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:46:52 [info] currentZPosition:0.00239
2025-04-29 05:46:54 [debug] Stopped at height 0.002 mm
2025-04-29 05:46:54 [debug] Diagnostics for board 50:
2025-04-29 05:46:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:46:54 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,8.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:34:45 ago, cause: software
2025-04-29 05:46:54 [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
2025-04-29 05:46:54 [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
2025-04-29 05:46:54 [debug] Moves scheduled 24715, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 270, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=564, frequency (Hz): min=1363, max=16304
Sync err accum 88, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2527799035 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 05:46:54 [debug] Driver 0: pos -9594, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18151, writes 0 timeouts 0
2025-04-29 05:46:54 [debug] Last sensors broadcast 0x00000000 found 0 132 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 100, 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 452, adv 36118/37069
2025-04-29 05:46:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2268
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10329, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:46:54 [info] currentZPosition:0.00209
2025-04-29 05:46:55 [debug] Stopped at height 0.002 mm
2025-04-29 05:46:55 [debug] Diagnostics for board 50:
2025-04-29 05:46:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:46:55 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.6%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:34:46 ago, cause: software
2025-04-29 05:46:55 [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
2025-04-29 05:46:55 [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
2025-04-29 05:46:55 [debug] Moves scheduled 24719, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 161, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=580, frequency (Hz): min=1275, max=15625
Sync err accum 86, peak jitter -1/0, peak Rx delay 171, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2526774102 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 32.9C, max
2025-04-29 05:46:55 [debug] Driver 0: pos -9594, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16352, writes 0 timeouts 0
2025-04-29 05:46:55 [debug] Last sensors broadcast 0x00000000 found 0 1 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 85, 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 350, adv 36232/37170
2025-04-29 05:46:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10343, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4711, no error
Lin: Encoder reverse polarity: no, raw count 2268
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:46:55 [info] currentZPosition:0.00209
2025-04-29 05:46:57 [debug] Stopped at height 0.002 mm
2025-04-29 05:46:57 [debug] Diagnostics for board 50:
2025-04-29 05:46:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:46:57 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,68.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,8.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:34:48 ago, cause: software
2025-04-29 05:46:57 [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
2025-04-29 05:46:57 [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
2025-04-29 05:46:57 [debug] Moves scheduled 24723, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=500, frequency (Hz): min=1616, max=15306
Sync err accum 74, peak jitter -3/-1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2525591152 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 05:46:57 [debug] Driver 0: pos -9593, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17944, writes 0 timeouts 0
2025-04-29 05:46:57 [debug] Last sensors broadcast 0x00000000 found 0 76 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 98, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36107/37118
2025-04-29 05:46:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2268
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10339, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4710, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:46:57 [info] currentZPosition:0.00219
2025-04-29 05:46:58 [debug] Stopped at height 0.003 mm
2025-04-29 05:46:58 [debug] Diagnostics for board 50:
2025-04-29 05:46:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:46:58 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.7%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:34:49 ago, cause: software
2025-04-29 05:46:58 [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
2025-04-29 05:46:58 [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
2025-04-29 05:46:58 [debug] Moves scheduled 24727, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=834, frequency (Hz): min=1134, max=15306
Sync err accum 59, peak jitter -3/-2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2524573014 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 32.9C, ma
2025-04-29 05:46:58 [debug] Driver 0: pos -9589, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16191, writes 0 timeouts 0
2025-04-29 05:46:58 [debug] Last sensors broadcast 0x00000000 found 0 180 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 77, 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 406, adv 36226/37092
2025-04-29 05:46:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2269
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10338, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:46:58 [info] currentZPosition:0.00258
2025-04-29 05:47:00 [debug] Stopped at height 0.002 mm
2025-04-29 05:47:00 [debug] Diagnostics for board 50:
2025-04-29 05:47:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:47:00 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:34:51 ago, cause: software
2025-04-29 05:47:00 [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
2025-04-29 05:47:00 [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
2025-04-29 05:47:00 [debug] Moves scheduled 24731, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=544, frequency (Hz): min=521, max=15306
Sync err accum 71, peak jitter 0/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 2523393665 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, curr
2025-04-29 05:47:00 [debug] Driver 0: pos -9591, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18002, writes 22 timeouts 2
2025-04-29 05:47:00 [debug] Last sensors broadcast 0x00000000 found 0 5 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 95, 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 363, adv 36092/37107
2025-04-29 05:47:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10353, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:47:00 [info] currentZPosition:0.00249
2025-04-29 05:47:01 [debug] Stopped at height 0.003 mm
2025-04-29 05:47:01 [debug] Diagnostics for board 50:
2025-04-29 05:47:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:47:01 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.2%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:34:52 ago, cause: software
2025-04-29 05:47:01 [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
2025-04-29 05:47:01 [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
2025-04-29 05:47:01 [debug] Moves scheduled 24735, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=588, frequency (Hz): min=1320, max=15306
Sync err accum 78, peak jitter 0/2, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2522377028 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.1C, max 
2025-04-29 05:47:01 [debug] Driver 0: pos -9587, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16322, writes 0 timeouts 0
2025-04-29 05:47:01 [debug] Last sensors broadcast 0x00000000 found 0 112 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 77, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36252/37125
2025-04-29 05:47:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10328, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:47:01 [info] currentZPosition:0.00288
2025-04-29 05:47:03 [debug] Stopped at height 0.002 mm
2025-04-29 05:47:03 [debug] Diagnostics for board 50:
2025-04-29 05:47:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:47:03 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,68.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,8.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:34:54 ago, cause: software
2025-04-29 05:47:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 05:47:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 05:47:03 [debug] Moves scheduled 24739, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=566, frequency (Hz): min=795, max=15306
Sync err accum 83, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2521183243 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, curr
2025-04-29 05:47:03 [debug] Driver 0: pos -9593, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18088, writes 11 timeouts 1
2025-04-29 05:47:03 [debug] Last sensors broadcast 0x00000000 found 0 203 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 101, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36129/37137
2025-04-29 05:47:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10320, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:47:03 [info] currentZPosition:0.00229
2025-04-29 05:47:04 [debug] Stopped at height 0.003 mm
2025-04-29 05:47:04 [debug] Diagnostics for board 50:
2025-04-29 05:47:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:47:04 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.5%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:34:55 ago, cause: software
2025-04-29 05:47:04 [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
2025-04-29 05:47:04 [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
2025-04-29 05:47:04 [debug] Moves scheduled 24743, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=546, frequency (Hz): min=1450, max=15306
Sync err accum 83, peak jitter 0/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 2520176827 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:47:04 [debug] Driver 0: pos -9585, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16077, writes 0 timeouts 0
2025-04-29 05:47:04 [debug] Last sensors broadcast 0x00000000 found 0 44 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 78, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36177/37114
2025-04-29 05:47:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10300, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4707, no error
Lin: Encoder reverse polarity: no, raw count 2267
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:47:04 [info] currentZPosition:0.00308
2025-04-29 05:47:06 [debug] Stopped at height 0.002 mm
2025-04-29 05:47:06 [debug] Diagnostics for board 50:
2025-04-29 05:47:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:47:06 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:34:57 ago, cause: software
2025-04-29 05:47:06 [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
2025-04-29 05:47:06 [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
2025-04-29 05:47:06 [debug] Moves scheduled 24747, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 310, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=584, frequency (Hz): min=1306, max=15306
Sync err accum 73, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2518968352 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.1C, ma
2025-04-29 05:47:06 [debug] Driver 0: pos -9599, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18462, writes 0 timeouts 0
2025-04-29 05:47:06 [debug] Last sensors broadcast 0x00000000 found 0 157 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 107, 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 441, adv 36134/37111
2025-04-29 05:47:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10380, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:47:06 [info] currentZPosition:0.00169
2025-04-29 05:47:06 [debug] Stopped at height 0.001 mm
2025-04-29 05:47:07 [debug] Stopped at height 0.002 mm
2025-04-29 05:47:07 [debug] Diagnostics for board 50:
2025-04-29 05:47:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:47:07 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.6%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:34:59 ago, cause: software
2025-04-29 05:47:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 05:47:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 05:47:07 [debug] Moves scheduled 24753, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 506, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=710, frequency (Hz): min=1241, max=15306
Sync err accum 63, peak jitter -3/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2517710434 ticks, 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
2025-04-29 05:47:07 [debug] Driver 0: pos -9593, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20035, writes 0 timeouts 0
2025-04-29 05:47:07 [debug] Last sensors broadcast 0x00000000 found 0 83 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 96, 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 610, adv 36201/37127
2025-04-29 05:47:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10351, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:47:07 [info] currentZPosition:0.00229
2025-04-29 05:47:09 [debug] Stopped at height 0.003 mm
2025-04-29 05:47:09 [debug] Diagnostics for board 50:
2025-04-29 05:47:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:47:09 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,68.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,8.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:35:00 ago, cause: software
2025-04-29 05:47:09 [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
2025-04-29 05:47:09 [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
2025-04-29 05:47:09 [debug] Moves scheduled 24757, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 555, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=526, frequency (Hz): min=1488, max=15306
Sync err accum 76, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2516537624 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 32.9C, max 
2025-04-29 05:47:09 [debug] Driver 0: pos -9588, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17741, writes 0 timeouts 0
2025-04-29 05:47:09 [debug] Last sensors broadcast 0x00000000 found 0 146 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 101, 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 528, adv 36166/37104
2025-04-29 05:47:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2267
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10294, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:47:09 [info] currentZPosition:0.00278
2025-04-29 05:47:10 [debug] Stopped at height 0.002 mm
2025-04-29 05:47:10 [debug] Diagnostics for board 50:
2025-04-29 05:47:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:47:10 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:35:02 ago, cause: software
2025-04-29 05:47:10 [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
2025-04-29 05:47:10 [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
2025-04-29 05:47:10 [debug] Moves scheduled 24761, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=722, frequency (Hz): min=1273, max=15306
Sync err accum 80, peak jitter 0/1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2515503861 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 05:47:10 [debug] Driver 0: pos -9594, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16561, writes 0 timeouts 0
2025-04-29 05:47:10 [debug] Last sensors broadcast 0x00000000 found 0 27 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 85, 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 375, adv 36230/37117
2025-04-29 05:47:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10346, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2267
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:47:10 [info] currentZPosition:0.00219
2025-04-29 05:47:12 [debug] Stopped at height 0.003 mm
2025-04-29 05:47:12 [debug] Diagnostics for board 50:
2025-04-29 05:47:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:47:12 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:35:03 ago, cause: software
2025-04-29 05:47:12 [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
2025-04-29 05:47:12 [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
2025-04-29 05:47:12 [debug] Moves scheduled 24765, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=613, frequency (Hz): min=1237, max=15306
Sync err accum 79, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2514334744 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 32.9C, max
2025-04-29 05:47:12 [debug] Driver 0: pos -9589, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17790, writes 0 timeouts 0
2025-04-29 05:47:12 [debug] Last sensors broadcast 0x00000000 found 0 82 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 94, 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 365, adv 36113/37112
2025-04-29 05:47:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2269
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10307, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:47:12 [info] currentZPosition:0.00268
2025-04-29 05:47:13 [debug] Stopped at height 0.002 mm
2025-04-29 05:47:13 [debug] Diagnostics for board 50:
2025-04-29 05:47:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:47:13 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:35:04 ago, cause: software
2025-04-29 05:47:13 [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
2025-04-29 05:47:13 [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
2025-04-29 05:47:13 [debug] Moves scheduled 24769, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 322, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=613, frequency (Hz): min=1235, max=15306
Sync err accum 72, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 2513300418 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 05:47:13 [debug] Driver 0: pos -9596, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16559, writes 0 timeouts 0
2025-04-29 05:47:13 [debug] Last sensors broadcast 0x00000000 found 0 214 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 84, 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 372, adv 36231/37138
2025-04-29 05:47:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2269
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10337, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:47:13 [info] currentZPosition:0.00199
2025-04-29 05:47:15 [debug] Stopped at height 0.002 mm
2025-04-29 05:47:15 [debug] Diagnostics for board 50:
2025-04-29 05:47:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:47:15 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,68.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,8.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:35:06 ago, cause: software
2025-04-29 05:47:15 [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
2025-04-29 05:47:15 [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
2025-04-29 05:47:15 [debug] Moves scheduled 24773, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=630, frequency (Hz): min=1318, max=15306
Sync err accum 63, peak jitter -3/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 2512123729 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:47:15 [debug] Driver 0: pos -9594, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17792, writes 0 timeouts 0
2025-04-29 05:47:15 [debug] Last sensors broadcast 0x00000000 found 0 35 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 104, 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 756, adv 36083/37108
2025-04-29 05:47:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2269
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10301, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:47:15 [info] currentZPosition:0.00229
2025-04-29 05:47:16 [debug] Stopped at height 0.002 mm
2025-04-29 05:47:16 [debug] Diagnostics for board 50:
2025-04-29 05:47:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:47:16 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:35:07 ago, cause: software
2025-04-29 05:47:16 [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
2025-04-29 05:47:16 [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
2025-04-29 05:47:16 [debug] Moves scheduled 24777, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=500, frequency (Hz): min=1549, max=15306
Sync err accum 67, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2511102578 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 05:47:16 [debug] Driver 0: pos -9592, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16290, writes 0 timeouts 0
2025-04-29 05:47:16 [debug] Last sensors broadcast 0x00000000 found 0 144 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 85, 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 437, adv 36229/37135
2025-04-29 05:47:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10326, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:47:16 [info] currentZPosition:0.00249
2025-04-29 05:47:18 [debug] Stopped at height 0.003 mm
2025-04-29 05:47:18 [debug] Diagnostics for board 50:
2025-04-29 05:47:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:47:18 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,68.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,8.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:35:09 ago, cause: software
2025-04-29 05:47:18 [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
2025-04-29 05:47:18 [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
2025-04-29 05:47:18 [debug] Moves scheduled 24781, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 189, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=650, frequency (Hz): min=1318, max=15306
Sync err accum 71, peak jitter 0/1, peak Rx delay 190, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2509928938 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:47:18 [debug] Driver 0: pos -9587, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17851, writes 0 timeouts 0
2025-04-29 05:47:18 [debug] Last sensors broadcast 0x00000000 found 0 207 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 91, 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 391, adv 36088/37131
2025-04-29 05:47:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2268
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10312, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:47:18 [info] currentZPosition:0.00298
2025-04-29 05:47:19 [debug] Stopped at height 0.003 mm
2025-04-29 05:47:19 [debug] Diagnostics for board 50:
2025-04-29 05:47:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:47:19 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 16:35:10 ago, cause: software
2025-04-29 05:47:19 [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
2025-04-29 05:47:19 [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
2025-04-29 05:47:19 [debug] Moves scheduled 24785, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=497, frequency (Hz): min=583, max=15306
Sync err accum 66, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2508910623 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:47:19 [debug] Driver 0: pos -9585, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16277, writes 11 timeouts 1
2025-04-29 05:47:19 [debug] Last sensors broadcast 0x00000000 found 0 66 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 78, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36196/37110
2025-04-29 05:47:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2266
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10274, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:47:19 [info] currentZPosition:0.00328
2025-04-29 05:47:21 [debug] Stopped at height 0.003 mm
2025-04-29 05:47:21 [debug] Diagnostics for board 50:
2025-04-29 05:47:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:47:21 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,68.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,8.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:35:12 ago, cause: software
2025-04-29 05:47:21 [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
2025-04-29 05:47:21 [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
2025-04-29 05:47:21 [debug] Moves scheduled 24789, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=536, frequency (Hz): min=1371, max=15306
Sync err accum 69, peak jitter -2/3, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2507724278 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 32.9C, max
2025-04-29 05:47:21 [debug] Driver 0: pos -9588, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18089, writes 0 timeouts 0
2025-04-29 05:47:21 [debug] Last sensors broadcast 0x00000000 found 0 149 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 96, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36074/37167
2025-04-29 05:47:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10299, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4707, no error
Lin: Encoder reverse polarity: no, raw count 2267
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:47:21 [info] currentZPosition:0.00298
2025-04-29 05:47:22 [debug] Stopped at height 0.002 mm
2025-04-29 05:47:22 [debug] Diagnostics for board 50:
2025-04-29 05:47:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:47:22 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.2%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:35:13 ago, cause: software
2025-04-29 05:47:22 [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
2025-04-29 05:47:22 [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
2025-04-29 05:47:22 [debug] Moves scheduled 24793, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=593, frequency (Hz): min=1412, max=15306
Sync err accum 77, peak jitter 1/2, peak Rx delay 198, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2506685456 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 32.9C, max 
2025-04-29 05:47:22 [debug] Driver 0: pos -9595, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16611, writes 0 timeouts 0
2025-04-29 05:47:22 [debug] Last sensors broadcast 0x00000000 found 0 33 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 83, 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 420, adv 36197/37112
2025-04-29 05:47:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10321, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:47:22 [info] currentZPosition:0.00239
2025-04-29 05:47:24 [debug] Stopped at height 0.003 mm
2025-04-29 05:47:24 [debug] Diagnostics for board 50:
2025-04-29 05:47:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:47:24 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,68.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,8.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:35:15 ago, cause: software
2025-04-29 05:47:24 [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
2025-04-29 05:47:24 [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
2025-04-29 05:47:24 [debug] Moves scheduled 24797, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=664, frequency (Hz): min=1420, max=15306
Sync err accum 85, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2505516747 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 32.9C, max 
2025-04-29 05:47:24 [debug] Driver 0: pos -9588, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17785, writes 0 timeouts 0
2025-04-29 05:47:24 [debug] Last sensors broadcast 0x00000000 found 0 91 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 96, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36080/37146
2025-04-29 05:47:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10318, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2266
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:47:24 [info] currentZPosition:0.00308
2025-04-29 05:47:25 [debug] Stopped at height 0.002 mm
2025-04-29 05:47:25 [debug] Diagnostics for board 50:
2025-04-29 05:47:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:47:25 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:35:16 ago, cause: software
2025-04-29 05:47:25 [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
2025-04-29 05:47:25 [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
2025-04-29 05:47:25 [debug] Moves scheduled 24801, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 170, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=733, frequency (Hz): min=1173, max=15306
Sync err accum 83, peak jitter -1/0, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 2504469084 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:47:25 [debug] Driver 0: pos -9601, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16768, writes 0 timeouts 0
2025-04-29 05:47:25 [debug] Last sensors broadcast 0x00000000 found 0 239 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 89, 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 366, adv 36202/37127
2025-04-29 05:47:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10386, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:47:25 [info] currentZPosition:0.00179
2025-04-29 05:47:25 [debug] Stopped at height 0.001 mm
2025-04-29 05:47:27 [debug] Stopped at height 0.002 mm
2025-04-29 05:47:27 [debug] Diagnostics for board 50:
2025-04-29 05:47:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:47:27 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:35:18 ago, cause: software
2025-04-29 05:47:27 [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
2025-04-29 05:47:27 [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
2025-04-29 05:47:27 [debug] Moves scheduled 24807, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 307, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=516, frequency (Hz): min=1396, max=15306
Sync err accum 70, peak jitter -3/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2503039821 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatu
2025-04-29 05:47:27 [debug] Driver 0: pos -9601, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 21825, writes 0 timeouts 0
2025-04-29 05:47:27 [debug] Last sensors broadcast 0x00000000 found 0 144 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 123, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36132/37133
2025-04-29 05:47:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10370, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:47:27 [info] currentZPosition:0.00179
2025-04-29 05:47:28 [debug] Stopped at height 0.003 mm
2025-04-29 05:47:28 [debug] Diagnostics for board 50:
2025-04-29 05:47:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:47:28 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:35:19 ago, cause: software
2025-04-29 05:47:28 [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
2025-04-29 05:47:28 [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
2025-04-29 05:47:28 [debug] Moves scheduled 24811, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 160, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=758, frequency (Hz): min=762, max=15306
Sync err accum 62, peak jitter -2/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2502042299 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 05:47:28 [debug] Driver 0: pos -9588, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15826, writes 11 timeouts 1
2025-04-29 05:47:28 [debug] Last sensors broadcast 0x00000000 found 0 222 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 77, 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 378, adv 36184/37124
2025-04-29 05:47:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2269
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10331, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4707, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:47:28 [info] currentZPosition:0.00308
2025-04-29 05:47:29 [debug] Stopped at height 0.002 mm
2025-04-29 05:47:30 [debug] Stopped at height 0.003 mm
2025-04-29 05:47:30 [debug] Diagnostics for board 50:
2025-04-29 05:47:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:47:30 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:35:21 ago, cause: software
2025-04-29 05:47:30 [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
2025-04-29 05:47:30 [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
2025-04-29 05:47:30 [debug] Moves scheduled 24817, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 259, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=776, frequency (Hz): min=1184, max=15625
Sync err accum 69, peak jitter -1/2, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2500622197 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 32.9C, max
2025-04-29 05:47:30 [debug] Driver 0: pos -9593, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 21784, writes 0 timeouts 0
2025-04-29 05:47:30 [debug] Last sensors broadcast 0x00000000 found 0 118 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 117, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36055/37121
2025-04-29 05:47:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10351, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:47:30 [info] currentZPosition:0.00258
2025-04-29 05:47:31 [debug] Stopped at height 0.002 mm
2025-04-29 05:47:31 [debug] Diagnostics for board 50:
2025-04-29 05:47:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:47:31 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:35:23 ago, cause: software
2025-04-29 05:47:31 [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
2025-04-29 05:47:31 [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
2025-04-29 05:47:31 [debug] Moves scheduled 24821, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 257, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=734, frequency (Hz): min=1288, max=15306
Sync err accum 65, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2499597597 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 32.9C, max
2025-04-29 05:47:31 [debug] Driver 0: pos -9594, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16355, writes 0 timeouts 0
2025-04-29 05:47:31 [debug] Last sensors broadcast 0x00000000 found 0 234 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 80, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36192/37115
2025-04-29 05:47:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10354, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4707, no error
Lin: Encoder reverse polarity: no, raw count 2268
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:47:32 [info] currentZPosition:0.00249
2025-04-29 05:47:33 [debug] Stopped at height 0.003 mm
2025-04-29 05:47:33 [debug] Diagnostics for board 50:
2025-04-29 05:47:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:47:33 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,68.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,8.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:35:24 ago, cause: software
2025-04-29 05:47:33 [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
2025-04-29 05:47:33 [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
2025-04-29 05:47:33 [debug] Moves scheduled 24825, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=498, frequency (Hz): min=807, max=15306
Sync err accum 68, peak jitter -1/2, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2498425891 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 32.9C, max 
2025-04-29 05:47:33 [debug] Driver 0: pos -9587, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17785, writes 11 timeouts 1
2025-04-29 05:47:33 [debug] Last sensors broadcast 0x00000000 found 0 46 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 98, 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 363, adv 36104/37173
2025-04-29 05:47:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10306, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2268
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:47:33 [info] currentZPosition:0.00318
2025-04-29 05:47:34 [debug] Stopped at height 0.002 mm
2025-04-29 05:47:34 [debug] Diagnostics for board 50:
2025-04-29 05:47:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:47:34 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:35:26 ago, cause: software
2025-04-29 05:47:34 [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
2025-04-29 05:47:34 [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
2025-04-29 05:47:34 [debug] Moves scheduled 24829, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 225, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=593, frequency (Hz): min=1476, max=15306
Sync err accum 74, peak jitter 0/2, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2497377878 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:47:34 [debug] Driver 0: pos -9599, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16772, writes 0 timeouts 0
2025-04-29 05:47:34 [debug] Last sensors broadcast 0x00000000 found 0 194 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 85, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36241/37121
2025-04-29 05:47:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10377, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4708, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:47:35 [info] currentZPosition:0.00199
2025-04-29 05:47:36 [debug] Stopped at height 0.002 mm
2025-04-29 05:47:36 [debug] Diagnostics for board 50:
2025-04-29 05:47:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:47:36 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,68.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,8.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:35:27 ago, cause: software
2025-04-29 05:47:36 [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
2025-04-29 05:47:36 [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
2025-04-29 05:47:36 [debug] Moves scheduled 24833, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=476, frequency (Hz): min=1740, max=15306
Sync err accum 75, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 2496201003 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:47:36 [debug] Driver 0: pos -9595, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17795, writes 0 timeouts 0
2025-04-29 05:47:36 [debug] Last sensors broadcast 0x00000000 found 0 13 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 103, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36108/37121
2025-04-29 05:47:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10356, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:47:36 [info] currentZPosition:0.00239
2025-04-29 05:47:37 [debug] Stopped at height 0.002 mm
2025-04-29 05:47:37 [debug] Diagnostics for board 50:
2025-04-29 05:47:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:47:37 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:35:29 ago, cause: software
2025-04-29 05:47:37 [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
2025-04-29 05:47:37 [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
2025-04-29 05:47:37 [debug] Moves scheduled 24837, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=724, frequency (Hz): min=1225, max=15306
Sync err accum 68, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 2495175358 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:47:37 [debug] Driver 0: pos -9594, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16364, writes 0 timeouts 0
2025-04-29 05:47:37 [debug] Last sensors broadcast 0x00000000 found 0 131 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 81, 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 755, adv 36218/37155
2025-04-29 05:47:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10334, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:47:37 [info] currentZPosition:0.00249
2025-04-29 05:47:39 [debug] Stopped at height 0.002 mm
2025-04-29 05:47:39 [debug] Diagnostics for board 50:
2025-04-29 05:47:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:47:39 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,68.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,8.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:35:30 ago, cause: software
2025-04-29 05:47:39 [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
2025-04-29 05:47:39 [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
2025-04-29 05:47:39 [debug] Moves scheduled 24841, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=570, frequency (Hz): min=485, max=15625
Sync err accum 62, peak jitter -2/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2493983561 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.1C, max 
2025-04-29 05:47:39 [debug] Driver 0: pos -9599, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18102, writes 11 timeouts 1
2025-04-29 05:47:39 [debug] Last sensors broadcast 0x00000000 found 0 220 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 100, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 392, adv 36108/37112
2025-04-29 05:47:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10372, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4707, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:47:39 [info] currentZPosition:0.00199
2025-04-29 05:47:40 [debug] Stopped at height 0.003 mm
2025-04-29 05:47:40 [debug] Diagnostics for board 50:
2025-04-29 05:47:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:47:40 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:35:32 ago, cause: software
2025-04-29 05:47:40 [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
2025-04-29 05:47:40 [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
2025-04-29 05:47:40 [debug] Moves scheduled 24845, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 306, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=502, frequency (Hz): min=1612, max=15306
Sync err accum 71, peak jitter 0/2, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 2492973847 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:47:40 [debug] Driver 0: pos -9589, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16143, writes 0 timeouts 0
2025-04-29 05:47:40 [debug] Last sensors broadcast 0x00000000 found 0 65 ticks ago, 0 ordering errs, loop time 2
CAN messages queued 80, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36260/37143
2025-04-29 05:47:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10317, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2266
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:47:40 [info] currentZPosition:0.00298
2025-04-29 05:47:42 [debug] Stopped at height 0.002 mm
2025-04-29 05:47:42 [debug] Diagnostics for board 50:
2025-04-29 05:47:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:47:42 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,8.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:35:33 ago, cause: software
2025-04-29 05:47:42 [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
2025-04-29 05:47:42 [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
2025-04-29 05:47:42 [debug] Moves scheduled 24849, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 158, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=620, frequency (Hz): min=1482, max=15306
Sync err accum 75, peak jitter 0/1, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2491777326 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.1C, max 
2025-04-29 05:47:42 [debug] Driver 0: pos -9598, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18271, writes 0 timeouts 0
2025-04-29 05:47:42 [debug] Last sensors broadcast 0x00000000 found 0 163 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 100, 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 397, adv 36132/37107
2025-04-29 05:47:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10365, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:47:42 [info] currentZPosition:0.00209
2025-04-29 05:47:43 [debug] Stopped at height 0.003 mm
2025-04-29 05:47:43 [debug] Diagnostics for board 50:
2025-04-29 05:47:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:47:43 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.1%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:35:35 ago, cause: software
2025-04-29 05:47:43 [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
2025-04-29 05:47:43 [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
2025-04-29 05:47:43 [debug] Moves scheduled 24853, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 353, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=685, frequency (Hz): min=1383, max=15306
Sync err accum 75, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2490760423 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.1C, max
2025-04-29 05:47:43 [debug] Driver 0: pos -9592, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16106, writes 0 timeouts 0
2025-04-29 05:47:43 [debug] Last sensors broadcast 0x00000000 found 0 17 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 80, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 398, adv 36172/37134
2025-04-29 05:47:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2268
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10335, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:47:43 [info] currentZPosition:0.00268
2025-04-29 05:47:45 [debug] Stopped at height 0.003 mm
2025-04-29 05:47:45 [debug] Diagnostics for board 50:
2025-04-29 05:47:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:47:45 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,68.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,8.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:35:36 ago, cause: software
2025-04-29 05:47:45 [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
2025-04-29 05:47:45 [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
2025-04-29 05:47:45 [debug] Moves scheduled 24857, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 286, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=548, frequency (Hz): min=888, max=15625
Sync err accum 66, peak jitter -3/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 2489589406 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:47:45 [debug] Driver 0: pos -9585, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17829, writes 11 timeouts 1
2025-04-29 05:47:45 [debug] Last sensors broadcast 0x00000000 found 0 78 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 92, 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 427, adv 36066/37055
2025-04-29 05:47:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10273, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2268
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:47:45 [info] currentZPosition:0.00338
2025-04-29 05:47:46 [debug] Stopped at height 0.002 mm
2025-04-29 05:47:46 [debug] Diagnostics for board 50:
2025-04-29 05:47:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:47:46 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.0%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:35:37 ago, cause: software
2025-04-29 05:47:46 [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
2025-04-29 05:47:46 [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
2025-04-29 05:47:46 [debug] Moves scheduled 24861, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=550, frequency (Hz): min=1213, max=15306
Sync err accum 63, peak jitter -3/3, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2488545724 ticks, 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
2025-04-29 05:47:46 [debug] Driver 0: pos -9594, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16743, writes 0 timeouts 0
2025-04-29 05:47:46 [debug] Last sensors broadcast 0x00000000 found 0 219 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 87, 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 356, adv 36233/37140
2025-04-29 05:47:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10349, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2268
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:47:46 [info] currentZPosition:0.00249
2025-04-29 05:47:48 [debug] Stopped at height 0.002 mm
2025-04-29 05:47:48 [debug] Diagnostics for board 50:
2025-04-29 05:47:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:47:48 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:35:39 ago, cause: software
2025-04-29 05:47:48 [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
2025-04-29 05:47:48 [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
2025-04-29 05:47:48 [debug] Moves scheduled 24865, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=570, frequency (Hz): min=1599, max=15306
Sync err accum 77, peak jitter 1/3, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2487357109 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.1C, max 
2025-04-29 05:47:48 [debug] Driver 0: pos -9597, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18172, writes 0 timeouts 0
2025-04-29 05:47:48 [debug] Last sensors broadcast 0x00000000 found 0 55 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 98, 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 377, adv 36094/37122
2025-04-29 05:47:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10333, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:47:48 [info] currentZPosition:0.00219
2025-04-29 05:47:49 [debug] Stopped at height 0.003 mm
2025-04-29 05:47:49 [debug] Diagnostics for board 50:
2025-04-29 05:47:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:47:49 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:35:40 ago, cause: software
2025-04-29 05:47:49 [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
2025-04-29 05:47:49 [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
2025-04-29 05:47:49 [debug] Moves scheduled 24869, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=644, frequency (Hz): min=1215, max=15306
Sync err accum 84, peak jitter 0/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 2486339786 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:47:49 [debug] Driver 0: pos -9593, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16222, writes 0 timeouts 0
2025-04-29 05:47:49 [debug] Last sensors broadcast 0x00000000 found 0 162 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 81, 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 421, adv 36216/37104
2025-04-29 05:47:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10343, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:47:49 [info] currentZPosition:0.00258
2025-04-29 05:47:51 [debug] Stopped at height 0.003 mm
2025-04-29 05:47:51 [debug] Diagnostics for board 50:
2025-04-29 05:47:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:47:51 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:35:42 ago, cause: software
2025-04-29 05:47:51 [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
2025-04-29 05:47:51 [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
2025-04-29 05:47:51 [debug] Moves scheduled 24873, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 495, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=678, frequency (Hz): min=1284, max=15306
Sync err accum 88, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2485168816 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.1C, max 
2025-04-29 05:47:51 [debug] Driver 0: pos -9589, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18101, writes 0 timeouts 0
2025-04-29 05:47:51 [debug] Last sensors broadcast 0x00000000 found 0 221 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 87, 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 447, adv 36083/37080
2025-04-29 05:47:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10330, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4697, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:47:51 [info] currentZPosition:0.00298
2025-04-29 05:47:52 [debug] Stopped at height 0.003 mm
2025-04-29 05:47:52 [debug] Diagnostics for board 50:
2025-04-29 05:47:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:47:52 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,3.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:35:43 ago, cause: software
2025-04-29 05:47:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 05:47:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 05:47:52 [debug] Moves scheduled 24877, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=574, frequency (Hz): min=1543, max=15306
Sync err accum 83, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2484146210 ticks, 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
2025-04-29 05:47:52 [debug] Driver 0: pos -9590, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16400, writes 0 timeouts 0
2025-04-29 05:47:52 [debug] Last sensors broadcast 0x00000000 found 0 85 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 81, 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 390, adv 36179/37099
2025-04-29 05:47:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2268
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10297, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:47:52 [info] currentZPosition:0.00298
2025-04-29 05:47:54 [debug] Stopped at height 0.003 mm
2025-04-29 05:47:54 [debug] Diagnostics for board 50:
2025-04-29 05:47:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:47:54 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,68.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,8.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:35:45 ago, cause: software
2025-04-29 05:47:54 [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
2025-04-29 05:47:54 [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
2025-04-29 05:47:54 [debug] Moves scheduled 24881, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=549, frequency (Hz): min=1428, max=15306
Sync err accum 73, peak jitter -2/-1, peak Rx delay 215, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2482956433 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.1C, ma
2025-04-29 05:47:54 [debug] Driver 0: pos -9593, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18114, writes 0 timeouts 0
2025-04-29 05:47:54 [debug] Last sensors broadcast 0x00000000 found 0 172 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 101, send timeouts 0, received 22, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 36072/37154
2025-04-29 05:47:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10322, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:47:54 [info] currentZPosition:0.00268
2025-04-29 05:47:55 [debug] Stopped at height 0.003 mm
2025-04-29 05:47:55 [debug] Diagnostics for board 50:
2025-04-29 05:47:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:47:55 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:35:46 ago, cause: software
2025-04-29 05:47:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 05:47:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 05:47:55 [debug] Moves scheduled 24885, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=630, frequency (Hz): min=1353, max=15306
Sync err accum 60, peak jitter -3/0, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2481941472 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.1C, max
2025-04-29 05:47:55 [debug] Driver 0: pos -9590, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16247, writes 0 timeouts 0
2025-04-29 05:47:55 [debug] Last sensors broadcast 0x00000000 found 0 23 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 82, 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 357, adv 36248/37122
2025-04-29 05:47:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2267
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10294, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:47:55 [info] currentZPosition:0.00298
2025-04-29 05:47:57 [debug] Stopped at height 0.003 mm
2025-04-29 05:47:57 [debug] Diagnostics for board 50:
2025-04-29 05:47:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:47:57 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,68.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,8.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:35:48 ago, cause: software
2025-04-29 05:47:57 [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
2025-04-29 05:47:57 [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
2025-04-29 05:47:57 [debug] Moves scheduled 24889, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=656, frequency (Hz): min=486, max=15306
Sync err accum 70, peak jitter 1/2, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 2480773373 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, curr
2025-04-29 05:47:57 [debug] Driver 0: pos -9585, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17726, writes 11 timeouts 1
2025-04-29 05:47:57 [debug] Last sensors broadcast 0x00000000 found 0 83 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 95, 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 389, adv 36074/37110
2025-04-29 05:47:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2266
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10273, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:47:57 [info] currentZPosition:0.00348
2025-04-29 05:47:58 [debug] Stopped at height 0.002 mm
2025-04-29 05:47:58 [debug] Diagnostics for board 50:
2025-04-29 05:47:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:47:58 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:35:49 ago, cause: software
2025-04-29 05:47:58 [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
2025-04-29 05:47:58 [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
2025-04-29 05:47:58 [debug] Moves scheduled 24893, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=513, frequency (Hz): min=1383, max=15306
Sync err accum 77, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2479723022 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.1C, max 
2025-04-29 05:47:58 [debug] Driver 0: pos -9596, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16749, writes 0 timeouts 0
2025-04-29 05:47:58 [debug] Last sensors broadcast 0x00000000 found 0 232 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 85, 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 390, adv 36201/37075
2025-04-29 05:47:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10329, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:47:58 [info] currentZPosition:0.00239
2025-04-29 05:47:59 [debug] Stopped at height 0.003 mm
2025-04-29 05:47:59 [debug] Diagnostics for board 50:
2025-04-29 05:47:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:47:59 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,68.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,8.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:35:51 ago, cause: software
2025-04-29 05:47:59 [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
2025-04-29 05:47:59 [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
2025-04-29 05:47:59 [debug] Moves scheduled 24897, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 162, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=592, frequency (Hz): min=580, max=15306
Sync err accum 77, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2478564921 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.1C, max 
2025-04-29 05:47:59 [debug] Driver 0: pos -9586, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17553, writes 11 timeouts 1
2025-04-29 05:47:59 [debug] Last sensors broadcast 0x00000000 found 0 26 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 92, 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 351, adv 36155/37127
2025-04-29 05:47:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10277, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4708, no error
Lin: Encoder reverse polarity: no, raw count 2266
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:48:00 [info] currentZPosition:0.00338
2025-04-29 05:48:01 [debug] Stopped at height 0.003 mm
2025-04-29 05:48:01 [debug] Diagnostics for board 50:
2025-04-29 05:48:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:48:01 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,3.8%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:35:52 ago, cause: software
2025-04-29 05:48:01 [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
2025-04-29 05:48:01 [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
2025-04-29 05:48:01 [debug] Moves scheduled 24901, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=658, frequency (Hz): min=792, max=15306
Sync err accum 75, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2477541208 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.1C, max 
2025-04-29 05:48:01 [debug] Driver 0: pos -9590, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16440, writes 11 timeouts 1
2025-04-29 05:48:01 [debug] Last sensors broadcast 0x00000000 found 0 145 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 78, send timeouts 0, received 22, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36181/37086
2025-04-29 05:48:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2267
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10295, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:48:01 [info] currentZPosition:0.00298
2025-04-29 05:48:02 [debug] Stopped at height 0.001 mm
2025-04-29 05:48:02 [debug] Diagnostics for board 50:
2025-04-29 05:48:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:48:02 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,68.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,8.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:35:54 ago, cause: software
2025-04-29 05:48:02 [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
2025-04-29 05:48:02 [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
2025-04-29 05:48:02 [debug] Moves scheduled 24905, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=588, frequency (Hz): min=784, max=15306
Sync err accum 64, peak jitter -2/-1, peak Rx delay 222, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2476320948 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.1C, max
2025-04-29 05:48:02 [debug] Driver 0: pos -9608, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18671, writes 11 timeouts 1
2025-04-29 05:48:02 [debug] Last sensors broadcast 0x00000000 found 0 33 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 115, 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 388, adv 36093/37164
2025-04-29 05:48:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10406, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:48:03 [info] currentZPosition:0.00119
2025-04-29 05:48:03 [debug] Stopped at height -0.000 mm
2025-04-29 05:48:04 [debug] Stopped at height 0.003 mm
2025-04-29 05:48:04 [debug] Diagnostics for board 50:
2025-04-29 05:48:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:48:04 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.6%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:35:55 ago, cause: software
2025-04-29 05:48:04 [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
2025-04-29 05:48:04 [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
2025-04-29 05:48:04 [debug] Moves scheduled 24911, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=613, frequency (Hz): min=1237, max=15306
Sync err accum 71, peak jitter -3/3, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2475051016 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.1C, max
2025-04-29 05:48:04 [debug] Driver 0: pos -9585, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20122, writes 0 timeouts 0
2025-04-29 05:48:04 [debug] Last sensors broadcast 0x00000000 found 0 211 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 96, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36176/37105
2025-04-29 05:48:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10259, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4708, no error
Lin: Encoder reverse polarity: no, raw count 2268
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:48:04 [info] currentZPosition:0.00348
2025-04-29 05:48:05 [debug] Stopped at height 0.003 mm
2025-04-29 05:48:06 [debug] Stopped at height 0.003 mm
2025-04-29 05:48:06 [debug] Diagnostics for board 50:
2025-04-29 05:48:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:48:06 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:35:57 ago, cause: software
2025-04-29 05:48:06 [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
2025-04-29 05:48:06 [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
2025-04-29 05:48:06 [debug] Moves scheduled 24917, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=480, frequency (Hz): min=1794, max=15306
Sync err accum 87, peak jitter 1/3, peak Rx delay 207, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2473614150 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 05:48:06 [debug] Driver 0: pos -9594, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 22459, writes 0 timeouts 0
2025-04-29 05:48:06 [debug] Last sensors broadcast 0x00000000 found 0 129 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 105, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36056/37141
2025-04-29 05:48:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2269
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10341, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:48:06 [info] currentZPosition:0.00258
2025-04-29 05:48:07 [debug] Stopped at height 0.003 mm
2025-04-29 05:48:07 [debug] Diagnostics for board 50:
2025-04-29 05:48:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:48:07 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:35:59 ago, cause: software
2025-04-29 05:48:07 [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
2025-04-29 05:48:07 [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
2025-04-29 05:48:07 [debug] Moves scheduled 24921, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=5, max=653, frequency (Hz): min=1368, max=15306
Sync err accum 90, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2472591012 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 05:48:07 [debug] Driver 0: pos -9594, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16338, writes 0 timeouts 0
2025-04-29 05:48:07 [debug] Last sensors broadcast 0x00000000 found 0 240 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 81, 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 424, adv 36190/37094
2025-04-29 05:48:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2267
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10335, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4707, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:48:08 [info] currentZPosition:0.00258
2025-04-29 05:48:09 [debug] Stopped at height 0.003 mm
2025-04-29 05:48:09 [debug] Diagnostics for board 50:
2025-04-29 05:48:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:48:09 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:36:00 ago, cause: software
2025-04-29 05:48:09 [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
2025-04-29 05:48:09 [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
2025-04-29 05:48:09 [debug] Moves scheduled 24925, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=586, frequency (Hz): min=1434, max=15625
Sync err accum 89, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2471412339 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.1C, max
2025-04-29 05:48:09 [debug] Driver 0: pos -9592, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18173, writes 0 timeouts 0
2025-04-29 05:48:09 [debug] Last sensors broadcast 0x00000000 found 0 65 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 95, send timeouts 0, received 22, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 36058/37141
2025-04-29 05:48:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10353, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:48:09 [info] currentZPosition:0.00278
2025-04-29 05:48:10 [debug] Stopped at height 0.002 mm
2025-04-29 05:48:10 [debug] Diagnostics for board 50:
2025-04-29 05:48:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:48:10 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:36:02 ago, cause: software
2025-04-29 05:48:10 [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
2025-04-29 05:48:10 [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
2025-04-29 05:48:10 [debug] Moves scheduled 24929, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=714, frequency (Hz): min=1159, max=15306
Sync err accum 79, peak jitter -3/0, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2470374598 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.1C, max
2025-04-29 05:48:10 [debug] Driver 0: pos -9600, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16557, writes 0 timeouts 0
2025-04-29 05:48:10 [debug] Last sensors broadcast 0x00000000 found 0 201 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 86, 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 365, adv 36247/37158
2025-04-29 05:48:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10387, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:48:11 [info] currentZPosition:0.00199
2025-04-29 05:48:12 [debug] Stopped at height 0.003 mm
2025-04-29 05:48:12 [debug] Diagnostics for board 50:
2025-04-29 05:48:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:48:12 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,68.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,8.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:36:03 ago, cause: software
2025-04-29 05:48:12 [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
2025-04-29 05:48:12 [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
2025-04-29 05:48:12 [debug] Moves scheduled 24933, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=538, frequency (Hz): min=1467, max=15306
Sync err accum 65, peak jitter -3/-1, peak Rx delay 185, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2469214053 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 05:48:12 [debug] Driver 0: pos -9587, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17562, writes 0 timeouts 0
2025-04-29 05:48:12 [debug] Last sensors broadcast 0x00000000 found 0 245 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 93, 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 396, adv 36140/37116
2025-04-29 05:48:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10319, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2267
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:48:12 [info] currentZPosition:0.00328
2025-04-29 05:48:12 [debug] Stopped at height 0.002 mm
2025-04-29 05:48:14 [debug] Stopped at height 0.002 mm
2025-04-29 05:48:14 [debug] Diagnostics for board 50:
2025-04-29 05:48:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:48:14 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,3.8%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:36:05 ago, cause: software
2025-04-29 05:48:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 05:48:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 05:48:14 [debug] Moves scheduled 24939, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=610, frequency (Hz): min=943, max=15625
Sync err accum 70, peak jitter -4/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2467933949 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 05:48:14 [debug] Driver 0: pos -9597, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20538, writes 0 timeouts 0
2025-04-29 05:48:14 [debug] Last sensors broadcast 0x00000000 found 0 200 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 98, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36222/37106
2025-04-29 05:48:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10331, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:48:14 [info] currentZPosition:0.00229
2025-04-29 05:48:15 [debug] Stopped at height 0.003 mm
2025-04-29 05:48:15 [debug] Diagnostics for board 50:
2025-04-29 05:48:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:48:15 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:36:06 ago, cause: software
2025-04-29 05:48:15 [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
2025-04-29 05:48:15 [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
2025-04-29 05:48:15 [debug] Moves scheduled 24943, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=549, frequency (Hz): min=1186, max=15306
Sync err accum 80, peak jitter 1/2, peak Rx delay 188, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2466771581 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.4C, max 
2025-04-29 05:48:15 [debug] Driver 0: pos -9587, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17927, writes 0 timeouts 0
2025-04-29 05:48:15 [debug] Last sensors broadcast 0x00000000 found 0 4 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 93, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36107/37106
2025-04-29 05:48:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2267
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10286, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:48:15 [info] currentZPosition:0.00328
2025-04-29 05:48:17 [debug] Stopped at height 0.002 mm
2025-04-29 05:48:17 [debug] Diagnostics for board 50:
2025-04-29 05:48:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:48:17 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:36:08 ago, cause: software
2025-04-29 05:48:17 [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
2025-04-29 05:48:17 [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
2025-04-29 05:48:17 [debug] Moves scheduled 24947, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 352, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=726, frequency (Hz): min=1162, max=15306
Sync err accum 81, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 2465717753 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:48:17 [debug] Driver 0: pos -9596, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16783, writes 0 timeouts 0
2025-04-29 05:48:17 [debug] Last sensors broadcast 0x00000000 found 0 159 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 87, 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 360, adv 35945/37142
2025-04-29 05:48:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10334, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4707, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:48:17 [info] currentZPosition:0.00239
2025-04-29 05:48:18 [debug] Stopped at height 0.002 mm
2025-04-29 05:48:18 [debug] Diagnostics for board 50:
2025-04-29 05:48:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:48:18 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,68.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,8.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:36:09 ago, cause: software
2025-04-29 05:48:18 [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
2025-04-29 05:48:18 [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
2025-04-29 05:48:18 [debug] Moves scheduled 24951, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=601, frequency (Hz): min=1417, max=15000
Sync err accum 77, peak jitter -1/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 2464526444 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:48:18 [debug] Driver 0: pos -9603, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17996, writes 0 timeouts 0
2025-04-29 05:48:18 [debug] Last sensors broadcast 0x00000000 found 0 244 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 111, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 35642/37100
2025-04-29 05:48:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10398, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:48:18 [info] currentZPosition:0.00169
2025-04-29 05:48:20 [debug] Stopped at height 0.002 mm
2025-04-29 05:48:20 [debug] Diagnostics for board 50:
2025-04-29 05:48:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:48:20 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:36:11 ago, cause: software
2025-04-29 05:48:20 [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
2025-04-29 05:48:20 [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
2025-04-29 05:48:20 [debug] Moves scheduled 24955, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 164, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=734, frequency (Hz): min=1162, max=15306
Sync err accum 67, peak jitter -3/0, peak Rx delay 198, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2463490001 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.4C, max
2025-04-29 05:48:20 [debug] Driver 0: pos -9597, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16366, writes 0 timeouts 0
2025-04-29 05:48:20 [debug] Last sensors broadcast 0x00000000 found 0 129 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 89, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 35830/37099
2025-04-29 05:48:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2269
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10338, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:48:20 [info] currentZPosition:0.00229
2025-04-29 05:48:21 [debug] Stopped at height 0.003 mm
2025-04-29 05:48:21 [debug] Diagnostics for board 50:
2025-04-29 05:48:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:48:21 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,68.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,8.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:36:12 ago, cause: software
2025-04-29 05:48:21 [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
2025-04-29 05:48:21 [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
2025-04-29 05:48:21 [debug] Moves scheduled 24959, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=517, frequency (Hz): min=1530, max=15306
Sync err accum 62, peak jitter -3/1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2462344325 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.1C, max
2025-04-29 05:48:21 [debug] Driver 0: pos -9586, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17399, writes 0 timeouts 0
2025-04-29 05:48:21 [debug] Last sensors broadcast 0x00000000 found 0 155 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 96, 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 672, adv 35791/37145
2025-04-29 05:48:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2268
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10310, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:48:21 [info] currentZPosition:0.00338
2025-04-29 05:48:23 [debug] Stopped at height 0.003 mm
2025-04-29 05:48:23 [debug] Diagnostics for board 50:
2025-04-29 05:48:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:48:23 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:36:14 ago, cause: software
2025-04-29 05:48:23 [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
2025-04-29 05:48:23 [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
2025-04-29 05:48:23 [debug] Moves scheduled 24963, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=574, frequency (Hz): min=1470, max=15306
Sync err accum 76, peak jitter 1/3, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 2461280188 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:48:23 [debug] Driver 0: pos -9590, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16918, writes 0 timeouts 0
2025-04-29 05:48:23 [debug] Last sensors broadcast 0x00000000 found 0 72 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 80, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 35663/37137
2025-04-29 05:48:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10297, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4707, no error
Lin: Encoder reverse polarity: no, raw count 2267
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:48:23 [info] currentZPosition:0.00298
2025-04-29 05:48:24 [debug] Stopped at height 0.003 mm
2025-04-29 05:48:24 [debug] Diagnostics for board 50:
2025-04-29 05:48:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:48:24 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:36:15 ago, cause: software
2025-04-29 05:48:24 [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
2025-04-29 05:48:24 [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
2025-04-29 05:48:24 [debug] Moves scheduled 24967, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=533, frequency (Hz): min=1482, max=15306
Sync err accum 84, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 2460134134 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:48:24 [debug] Driver 0: pos -9593, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17670, writes 0 timeouts 0
2025-04-29 05:48:24 [debug] Last sensors broadcast 0x00000000 found 0 104 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 99, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 35921/37083
2025-04-29 05:48:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10318, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:48:24 [info] currentZPosition:0.00268
2025-04-29 05:48:25 [debug] Stopped at height 0.003 mm
2025-04-29 05:48:25 [debug] Diagnostics for board 50:
2025-04-29 05:48:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:48:25 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:36:17 ago, cause: software
2025-04-29 05:48:25 [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
2025-04-29 05:48:25 [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
2025-04-29 05:48:25 [debug] Moves scheduled 24971, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=544, frequency (Hz): min=1572, max=15306
Sync err accum 85, peak jitter -1/1, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2459057112 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.4C, max
2025-04-29 05:48:25 [debug] Driver 0: pos -9595, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16949, writes 0 timeouts 0
2025-04-29 05:48:25 [debug] Last sensors broadcast 0x00000000 found 0 38 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 88, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36071/37159
2025-04-29 05:48:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2268
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10320, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:48:26 [info] currentZPosition:0.00258
2025-04-29 05:48:27 [debug] Stopped at height 0.003 mm
2025-04-29 05:48:27 [debug] Diagnostics for board 50:
2025-04-29 05:48:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:48:27 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:36:18 ago, cause: software
2025-04-29 05:48:27 [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
2025-04-29 05:48:27 [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
2025-04-29 05:48:27 [debug] Moves scheduled 24975, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=494, frequency (Hz): min=525, max=15306
Sync err accum 79, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2457918340 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.1C, max 
2025-04-29 05:48:27 [debug] Driver 0: pos -9595, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17576, writes 11 timeouts 1
2025-04-29 05:48:27 [debug] Last sensors broadcast 0x00000000 found 0 57 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 94, 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 381, adv 36144/37126
2025-04-29 05:48:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10320, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:48:27 [info] currentZPosition:0.00258
2025-04-29 05:48:28 [debug] Stopped at height 0.003 mm
2025-04-29 05:48:28 [debug] Diagnostics for board 50:
2025-04-29 05:48:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:48:28 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:36:20 ago, cause: software
2025-04-29 05:48:28 [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
2025-04-29 05:48:28 [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
2025-04-29 05:48:28 [debug] Moves scheduled 24979, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=684, frequency (Hz): min=1166, max=15306
Sync err accum 68, peak jitter -3/-1, peak Rx delay 201, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2456847008 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.1C, ma
2025-04-29 05:48:28 [debug] Driver 0: pos -9587, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16839, writes 0 timeouts 0
2025-04-29 05:48:28 [debug] Last sensors broadcast 0x00000000 found 0 236 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 83, 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 383, adv 36063/37158
2025-04-29 05:48:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10294, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:48:29 [info] currentZPosition:0.00338
2025-04-29 05:48:30 [debug] Stopped at height 0.002 mm
2025-04-29 05:48:30 [debug] Diagnostics for board 50:
2025-04-29 05:48:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:48:30 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:36:21 ago, cause: software
2025-04-29 05:48:30 [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
2025-04-29 05:48:30 [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
2025-04-29 05:48:30 [debug] Moves scheduled 24983, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 320, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=554, frequency (Hz): min=1662, max=15306
Sync err accum 62, peak jitter -3/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2455701119 ticks, 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
2025-04-29 05:48:30 [debug] Driver 0: pos -9598, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17717, writes 0 timeouts 0
2025-04-29 05:48:30 [debug] Last sensors broadcast 0x00000000 found 0 14 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 107, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36273/37134
2025-04-29 05:48:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10340, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4708, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:48:30 [info] currentZPosition:0.00229
2025-04-29 05:48:31 [debug] Stopped at height 0.003 mm
2025-04-29 05:48:31 [debug] Diagnostics for board 50:
2025-04-29 05:48:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:48:31 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:36:23 ago, cause: software
2025-04-29 05:48:31 [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
2025-04-29 05:48:31 [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
2025-04-29 05:48:31 [debug] Moves scheduled 24987, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 609, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=497, frequency (Hz): min=1829, max=15306
Sync err accum 75, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2454607268 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 05:48:31 [debug] Driver 0: pos -9593, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17144, writes 0 timeouts 0
2025-04-29 05:48:31 [debug] Last sensors broadcast 0x00000000 found 0 219 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 83, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36060/37119
2025-04-29 05:48:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2269
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10335, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4708, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:48:32 [info] currentZPosition:0.00278
2025-04-29 05:48:33 [debug] Stopped at height 0.003 mm
2025-04-29 05:48:33 [debug] Diagnostics for board 50:
2025-04-29 05:48:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:48:33 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:36:24 ago, cause: software
2025-04-29 05:48:33 [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
2025-04-29 05:48:33 [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
2025-04-29 05:48:33 [debug] Moves scheduled 24991, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=818, frequency (Hz): min=985, max=15306
Sync err accum 79, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2453504431 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.1C, max 3
2025-04-29 05:48:33 [debug] Driver 0: pos -9591, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17069, writes 0 timeouts 0
2025-04-29 05:48:33 [debug] Last sensors broadcast 0x00000000 found 0 192 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 93, send timeouts 0, received 22, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36246/37116
2025-04-29 05:48:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10320, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:48:33 [info] currentZPosition:0.00308
2025-04-29 05:48:34 [debug] Stopped at height 0.003 mm
2025-04-29 05:48:34 [debug] Diagnostics for board 50:
2025-04-29 05:48:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:48:34 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:36:26 ago, cause: software
2025-04-29 05:48:34 [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
2025-04-29 05:48:34 [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
2025-04-29 05:48:34 [debug] Moves scheduled 24995, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=478, frequency (Hz): min=1396, max=15306
Sync err accum 80, peak jitter -1/1, peak Rx delay 194, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2452392308 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.1C, max
2025-04-29 05:48:34 [debug] Driver 0: pos -9587, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17536, writes 0 timeouts 0
2025-04-29 05:48:34 [debug] Last sensors broadcast 0x00000000 found 0 173 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 83, 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 385, adv 35751/37121
2025-04-29 05:48:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10322, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:48:34 [info] currentZPosition:0.00348
2025-04-29 05:48:36 [debug] Stopped at height 0.002 mm
2025-04-29 05:48:36 [debug] Diagnostics for board 50:
2025-04-29 05:48:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:48:36 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:36:27 ago, cause: software
2025-04-29 05:48:36 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 05:48:36 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 05:48:36 [debug] Moves scheduled 24999, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 161, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=777, frequency (Hz): min=1139, max=15306
Sync err accum 77, peak jitter -1/1, peak Rx delay 192, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 2451272869 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:48:36 [debug] Driver 0: pos -9605, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17353, writes 0 timeouts 0
2025-04-29 05:48:36 [debug] Last sensors broadcast 0x00000000 found 0 168 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 105, send timeouts 0, received 22, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 35809/37128
2025-04-29 05:48:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10389, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:48:36 [info] currentZPosition:0.00169
2025-04-29 05:48:36 [debug] Stopped at height 0.001 mm
2025-04-29 05:48:38 [debug] Stopped at height 0.004 mm
2025-04-29 05:48:38 [debug] Diagnostics for board 50:
2025-04-29 05:48:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:48:38 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:36:29 ago, cause: software
2025-04-29 05:48:38 [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
2025-04-29 05:48:38 [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
2025-04-29 05:48:38 [debug] Moves scheduled 25005, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=718, frequency (Hz): min=581, max=15306
Sync err accum 63, peak jitter -2/0, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2449927596 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.1C, max 
2025-04-29 05:48:38 [debug] Driver 0: pos -9586, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 21211, writes 11 timeouts 1
2025-04-29 05:48:38 [debug] Last sensors broadcast 0x00000000 found 0 209 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 97, 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 382, adv 36241/37118
2025-04-29 05:48:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10299, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2267
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:48:38 [info] currentZPosition:0.00358
2025-04-29 05:48:38 [debug] Stopped at height 0.003 mm
2025-04-29 05:48:39 [debug] Stopped at height 0.002 mm
2025-04-29 05:48:39 [debug] Diagnostics for board 50:
2025-04-29 05:48:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:48:39 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:36:31 ago, cause: software
2025-04-29 05:48:39 [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
2025-04-29 05:48:39 [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
2025-04-29 05:48:39 [debug] Moves scheduled 25011, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=598, frequency (Hz): min=1299, max=15306
Sync err accum 73, peak jitter -1/2, peak Rx delay 186, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2448604408 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.1C, max
2025-04-29 05:48:39 [debug] Driver 0: pos -9602, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20744, writes 0 timeouts 0
2025-04-29 05:48:39 [debug] Last sensors broadcast 0x00000000 found 0 227 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 115, 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 450, adv 36062/37101
2025-04-29 05:48:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10356, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:48:40 [info] currentZPosition:0.00199
2025-04-29 05:48:41 [debug] Stopped at height 0.003 mm
2025-04-29 05:48:41 [debug] Diagnostics for board 50:
2025-04-29 05:48:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:48:41 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:36:32 ago, cause: software
2025-04-29 05:48:41 [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
2025-04-29 05:48:41 [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
2025-04-29 05:48:41 [debug] Moves scheduled 25015, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 610, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=694, frequency (Hz): min=568, max=15306
Sync err accum 78, peak jitter 0/1, peak Rx delay 184, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2447443048 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.1C, max 3
2025-04-29 05:48:41 [debug] Driver 0: pos -9596, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17990, writes 22 timeouts 2
2025-04-29 05:48:41 [debug] Last sensors broadcast 0x00000000 found 0 24 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 98, 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 744, adv 35834/37120
2025-04-29 05:48:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10346, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:48:41 [info] currentZPosition:0.00258
2025-04-29 05:48:42 [debug] Stopped at height 0.003 mm
2025-04-29 05:48:42 [debug] Diagnostics for board 50:
2025-04-29 05:48:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:48:42 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:36:34 ago, cause: software
2025-04-29 05:48:42 [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
2025-04-29 05:48:42 [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
2025-04-29 05:48:42 [debug] Moves scheduled 25019, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=700, frequency (Hz): min=1329, max=15306
Sync err accum 78, peak jitter -1/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 2446416800 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:48:42 [debug] Driver 0: pos -9589, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15837, writes 0 timeouts 0
2025-04-29 05:48:42 [debug] Last sensors broadcast 0x00000000 found 0 141 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 87, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 35820/37129
2025-04-29 05:48:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10300, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:48:42 [info] currentZPosition:0.00328
2025-04-29 05:48:44 [debug] Stopped at height 0.003 mm
2025-04-29 05:48:44 [debug] Diagnostics for board 50:
2025-04-29 05:48:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:48:44 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:36:35 ago, cause: software
2025-04-29 05:48:44 [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
2025-04-29 05:48:44 [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
2025-04-29 05:48:44 [debug] Moves scheduled 25023, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 159, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=565, frequency (Hz): min=1196, max=15306
Sync err accum 70, peak jitter -2/0, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 2445218861 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:48:44 [debug] Driver 0: pos -9596, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18808, writes 0 timeouts 0
2025-04-29 05:48:44 [debug] Last sensors broadcast 0x00000000 found 0 239 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 90, 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 355, adv 36061/37118
2025-04-29 05:48:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10335, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:48:44 [info] currentZPosition:0.00258
2025-04-29 05:48:45 [debug] Stopped at height 0.003 mm
2025-04-29 05:48:45 [debug] Diagnostics for board 50:
2025-04-29 05:48:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:48:45 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.9%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:36:37 ago, cause: software
2025-04-29 05:48:45 [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
2025-04-29 05:48:45 [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
2025-04-29 05:48:45 [debug] Moves scheduled 25027, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=541, frequency (Hz): min=1585, max=15306
Sync err accum 59, peak jitter -3/0, peak Rx delay 192, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2444210845 ticks, 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
2025-04-29 05:48:45 [debug] Driver 0: pos -9589, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15608, writes 0 timeouts 0
2025-04-29 05:48:45 [debug] Last sensors broadcast 0x00000000 found 0 81 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 90, 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 341, adv 36319/37122
2025-04-29 05:48:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10332, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:48:45 [info] currentZPosition:0.00338
2025-04-29 05:48:47 [debug] Stopped at height 0.002 mm
2025-04-29 05:48:47 [debug] Diagnostics for board 50:
2025-04-29 05:48:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:48:47 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:36:38 ago, cause: software
2025-04-29 05:48:47 [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
2025-04-29 05:48:47 [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
2025-04-29 05:48:47 [debug] Moves scheduled 25031, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=532, frequency (Hz): min=1461, max=15306
Sync err accum 76, peak jitter 1/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 2443003974 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:48:47 [debug] Driver 0: pos -9599, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18977, writes 0 timeouts 0
2025-04-29 05:48:47 [debug] Last sensors broadcast 0x00000000 found 0 193 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 94, 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 402, adv 36003/37113
2025-04-29 05:48:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2268
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10370, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4707, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:48:47 [info] currentZPosition:0.00239
2025-04-29 05:48:48 [debug] Stopped at height 0.003 mm
2025-04-29 05:48:48 [debug] Diagnostics for board 50:
2025-04-29 05:48:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:48:48 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.0%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.8%
Owned mutexes:
Last reset 16:36:40 ago, cause: software
2025-04-29 05:48:48 [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
2025-04-29 05:48:48 [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
2025-04-29 05:48:48 [debug] Moves scheduled 25035, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 506, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=718, frequency (Hz): min=1094, max=15306
Sync err accum 85, peak jitter 1/2, peak Rx delay 195, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2442004283 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.4C, max 
2025-04-29 05:48:48 [debug] Driver 0: pos -9590, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15495, writes 0 timeouts 0
2025-04-29 05:48:48 [debug] Last sensors broadcast 0x00000000 found 0 24 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 89, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 354, adv 35719/37119
2025-04-29 05:48:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10317, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2266
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:48:48 [info] currentZPosition:0.00328
2025-04-29 05:48:50 [debug] Stopped at height 0.002 mm
2025-04-29 05:48:50 [debug] Diagnostics for board 50:
2025-04-29 05:48:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:48:50 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:36:41 ago, cause: software
2025-04-29 05:48:50 [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
2025-04-29 05:48:50 [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
2025-04-29 05:48:50 [debug] Moves scheduled 25039, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=490, frequency (Hz): min=1641, max=15306
Sync err accum 90, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2440801234 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.1C, max 
2025-04-29 05:48:50 [debug] Driver 0: pos -9599, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18856, writes 0 timeouts 0
2025-04-29 05:48:50 [debug] Last sensors broadcast 0x00000000 found 0 129 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 98, 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 374, adv 35901/37133
2025-04-29 05:48:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2269
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10364, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4707, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:48:50 [info] currentZPosition:0.00239
2025-04-29 05:48:51 [debug] Stopped at height 0.002 mm
2025-04-29 05:48:51 [debug] Diagnostics for board 50:
2025-04-29 05:48:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:48:51 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.6%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:36:42 ago, cause: software
2025-04-29 05:48:51 [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
2025-04-29 05:48:51 [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
2025-04-29 05:48:51 [debug] Moves scheduled 25043, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 166, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=650, frequency (Hz): min=736, max=15306
Sync err accum 86, peak jitter -2/0, peak Rx delay 201, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 2439765256 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:48:51 [debug] Driver 0: pos -9607, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15854, writes 11 timeouts 1
2025-04-29 05:48:51 [debug] Last sensors broadcast 0x00000000 found 0 11 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 105, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 35892/37123
2025-04-29 05:48:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10395, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:48:51 [info] currentZPosition:0.00159
2025-04-29 05:48:53 [debug] Stopped at height 0.004 mm
2025-04-29 05:48:53 [debug] Diagnostics for board 50:
2025-04-29 05:48:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:48:53 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:36:44 ago, cause: software
2025-04-29 05:48:53 [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
2025-04-29 05:48:53 [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
2025-04-29 05:48:53 [debug] Moves scheduled 25047, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=536, frequency (Hz): min=642, max=15306
Sync err accum 77, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 2438614437 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:48:53 [debug] Driver 0: pos -9586, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18033, writes 11 timeouts 1
2025-04-29 05:48:53 [warn] Warning: Discarded std reply src=50 RID=2023 exp=2023 "ffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDe"
2025-04-29 05:48:53 [warn] Warning: Discarded std reply src=50 RID=2023 exp=2023 "lay 354, adv 35793/37154"
2025-04-29 05:48:53 [debug] Last sensors broadcast 0x00000000 found 0 45 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 86, send timeouts 0, received 22, lost 0, ignored 0, errs 0, boc 0, free bu
CAN response timeout: board 50, req type 6024, RID 2023
2025-04-29 05:48:54 [info] currentZPosition:0.00368
2025-04-29 05:48:54 [debug] Stopped at height 0.002 mm
2025-04-29 05:48:55 [debug] Stopped at height 0.003 mm
2025-04-29 05:48:55 [debug] Diagnostics for board 50:
2025-04-29 05:48:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:48:55 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:36:47 ago, cause: software
2025-04-29 05:48:55 [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
2025-04-29 05:48:55 [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
2025-04-29 05:48:55 [debug] Moves scheduled 25053, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=37, max=554, frequency (Hz): min=1515, max=15306
Sync err accum 63, peak jitter -3/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2436625736 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatu
2025-04-29 05:48:55 [debug] Driver 0: pos -9589, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 31765, writes 0 timeouts 0
2025-04-29 05:48:55 [debug] Last sensors broadcast 0x00000000 found 0 195 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 145, 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 384, adv 36096/37156
2025-04-29 05:48:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10301, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2268
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:48:55 [info] currentZPosition:0.00338
2025-04-29 05:48:56 [debug] Stopped at height 0.002 mm
2025-04-29 05:48:57 [debug] Stopped at height 0.004 mm
2025-04-29 05:48:57 [debug] Diagnostics for board 50:
2025-04-29 05:48:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:48:57 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:36:49 ago, cause: software
2025-04-29 05:48:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 05:48:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 05:48:57 [debug] Moves scheduled 25059, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=893, frequency (Hz): min=490, max=15306
Sync err accum 80, peak jitter 1/4, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 2435206272 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, curr
2025-04-29 05:48:57 [debug] Driver 0: pos -9587, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 22442, writes 11 timeouts 1
2025-04-29 05:48:57 [debug] Last sensors broadcast 0x00000000 found 0 88 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 101, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 392, adv 35676/37149
2025-04-29 05:48:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10332, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2268
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:48:57 [info] currentZPosition:0.00358
2025-04-29 05:48:58 [debug] Stopped at height 0.003 mm
2025-04-29 05:48:59 [debug] Stopped at height 0.003 mm
2025-04-29 05:48:59 [debug] Diagnostics for board 50:
2025-04-29 05:48:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:48:59 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.1%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:36:50 ago, cause: software
2025-04-29 05:48:59 [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
2025-04-29 05:48:59 [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
2025-04-29 05:48:59 [debug] Moves scheduled 25065, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=924, frequency (Hz): min=993, max=15306
Sync err accum 84, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 4294967244 ticks, enabled, next step interrupt due in 2433941739 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30
2025-04-29 05:48:59 [debug] Driver 0: pos -9594, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 19748, writes 0 timeouts 0
2025-04-29 05:48:59 [debug] Last sensors broadcast 0x00000000 found 0 24 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 102, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36251/37114
2025-04-29 05:48:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10321, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:48:59 [info] currentZPosition:0.00288
2025-04-29 05:49:01 [debug] Stopped at height 0.003 mm
2025-04-29 05:49:01 [debug] Diagnostics for board 50:
2025-04-29 05:49:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:49:01 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:36:52 ago, cause: software
2025-04-29 05:49:01 [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
2025-04-29 05:49:01 [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
2025-04-29 05:49:01 [debug] Moves scheduled 25069, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 164, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=557, frequency (Hz): min=1404, max=15306
Sync err accum 81, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2432752096 ticks, 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
2025-04-29 05:49:01 [debug] Driver 0: pos -9595, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18685, writes 0 timeouts 0
2025-04-29 05:49:01 [debug] Last sensors broadcast 0x00000000 found 0 109 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 94, 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 365, adv 36296/37125
2025-04-29 05:49:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10355, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2268
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:49:01 [info] currentZPosition:0.00278
2025-04-29 05:49:02 [debug] Stopped at height 0.002 mm
2025-04-29 05:49:02 [debug] Diagnostics for board 50:
2025-04-29 05:49:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:49:02 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:36:53 ago, cause: software
2025-04-29 05:49:02 [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
2025-04-29 05:49:02 [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
2025-04-29 05:49:02 [debug] Moves scheduled 25073, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 309, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=901, frequency (Hz): min=1000, max=15306
Sync err accum 73, peak jitter -2/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 2431721582 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:49:02 [debug] Driver 0: pos -9600, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16007, writes 0 timeouts 0
2025-04-29 05:49:02 [debug] Last sensors broadcast 0x00000000 found 0 236 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 96, 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 607, adv 35685/37123
2025-04-29 05:49:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10359, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:49:02 [info] currentZPosition:0.00229
2025-04-29 05:49:04 [debug] Stopped at height 0.003 mm
2025-04-29 05:49:04 [debug] Diagnostics for board 50:
2025-04-29 05:49:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:49:04 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:36:55 ago, cause: software
2025-04-29 05:49:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 05:49:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 05:49:04 [debug] Moves scheduled 25077, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=545, frequency (Hz): min=1282, max=15306
Sync err accum 63, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2430543334 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:49:04 [debug] Driver 0: pos -9594, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18389, writes 0 timeouts 0
2025-04-29 05:49:04 [debug] Last sensors broadcast 0x00000000 found 0 55 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 96, 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 390, adv 36107/37098
2025-04-29 05:49:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10307, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:49:04 [info] currentZPosition:0.00288
2025-04-29 05:49:05 [debug] Stopped at height 0.002 mm
2025-04-29 05:49:05 [debug] Diagnostics for board 50:
2025-04-29 05:49:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:49:05 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.9%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:36:56 ago, cause: software
2025-04-29 05:49:05 [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
2025-04-29 05:49:05 [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
2025-04-29 05:49:05 [debug] Moves scheduled 25081, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=565, frequency (Hz): min=1559, max=15306
Sync err accum 70, peak jitter -2/2, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2429510835 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.4C, max
2025-04-29 05:49:05 [debug] Driver 0: pos -9602, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15969, writes 0 timeouts 0
2025-04-29 05:49:05 [debug] Last sensors broadcast 0x00000000 found 0 182 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 99, 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 362, adv 35923/37133
2025-04-29 05:49:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10396, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:49:05 [info] currentZPosition:0.00209
2025-04-29 05:49:06 [debug] Stopped at height 0.002 mm
2025-04-29 05:49:06 [debug] Diagnostics for board 50:
2025-04-29 05:49:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:49:06 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:36:58 ago, cause: software
2025-04-29 05:49:06 [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
2025-04-29 05:49:06 [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
2025-04-29 05:49:06 [debug] Moves scheduled 25085, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=662, frequency (Hz): min=1282, max=15306
Sync err accum 77, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 2428318465 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:49:06 [debug] Driver 0: pos -9601, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18684, writes 0 timeouts 0
2025-04-29 05:49:06 [debug] Last sensors broadcast 0x00000000 found 0 23 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 102, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36037/37140
2025-04-29 05:49:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10363, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:49:07 [info] currentZPosition:0.00219
2025-04-29 05:49:08 [debug] Stopped at height 0.003 mm
2025-04-29 05:49:08 [debug] Diagnostics for board 50:
2025-04-29 05:49:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:49:08 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:36:59 ago, cause: software
2025-04-29 05:49:08 [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
2025-04-29 05:49:08 [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
2025-04-29 05:49:08 [debug] Moves scheduled 25089, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=648, frequency (Hz): min=571, max=15306
Sync err accum 82, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2427301949 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.4C, max 3
2025-04-29 05:49:08 [debug] Driver 0: pos -9598, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15658, writes 11 timeouts 1
2025-04-29 05:49:08 [debug] Last sensors broadcast 0x00000000 found 0 129 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 96, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36082/37112
2025-04-29 05:49:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2269
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10349, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:49:08 [info] currentZPosition:0.00258
2025-04-29 05:49:09 [debug] Stopped at height 0.003 mm
2025-04-29 05:49:09 [debug] Diagnostics for board 50:
2025-04-29 05:49:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:49:09 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:37:01 ago, cause: software
2025-04-29 05:49:09 [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
2025-04-29 05:49:09 [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
2025-04-29 05:49:09 [debug] Moves scheduled 25093, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 1238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=538, frequency (Hz): min=1659, max=15625
Sync err accum 78, peak jitter -1/0, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 2426123499 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 05:49:09 [debug] Driver 0: pos -9592, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18395, writes 0 timeouts 0
2025-04-29 05:49:09 [debug] Last sensors broadcast 0x00000000 found 0 199 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 91, 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 465, adv 35929/37153
2025-04-29 05:49:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10315, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4709, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:49:10 [info] currentZPosition:0.00318
2025-04-29 05:49:11 [debug] Stopped at height 0.003 mm
2025-04-29 05:49:11 [debug] Diagnostics for board 50:
2025-04-29 05:49:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:49:11 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:37:02 ago, cause: software
2025-04-29 05:49:11 [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
2025-04-29 05:49:11 [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
2025-04-29 05:49:11 [debug] Moves scheduled 25097, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=726, frequency (Hz): min=535, max=15306
Sync err accum 68, peak jitter -2/0, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2425106808 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 05:49:11 [debug] Driver 0: pos -9591, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15771, writes 11 timeouts 1
2025-04-29 05:49:11 [debug] Last sensors broadcast 0x00000000 found 0 52 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 88, 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 377, adv 36341/37138
2025-04-29 05:49:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10333, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2267
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:49:11 [info] currentZPosition:0.00328
2025-04-29 05:49:12 [debug] Stopped at height 0.003 mm
2025-04-29 05:49:12 [debug] Diagnostics for board 50:
2025-04-29 05:49:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:49:12 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:37:04 ago, cause: software
2025-04-29 05:49:12 [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
2025-04-29 05:49:12 [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
2025-04-29 05:49:12 [debug] Moves scheduled 25101, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 247, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=666, frequency (Hz): min=807, max=15306
Sync err accum 59, peak jitter -3/1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 2423921160 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:49:12 [debug] Driver 0: pos -9591, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18682, writes 11 timeouts 1
2025-04-29 05:49:12 [debug] Last sensors broadcast 0x00000000 found 0 134 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 87, send timeouts 0, received 22, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 35805/37124
2025-04-29 05:49:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10328, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:49:12 [info] currentZPosition:0.00338
2025-04-29 05:49:14 [debug] Stopped at height 0.003 mm
2025-04-29 05:49:14 [debug] Diagnostics for board 50:
2025-04-29 05:49:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:49:14 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:37:05 ago, cause: software
2025-04-29 05:49:14 [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
2025-04-29 05:49:14 [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
2025-04-29 05:49:14 [debug] Moves scheduled 25105, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=852, frequency (Hz): min=1121, max=15306
Sync err accum 76, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2422899657 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.4C, max 
2025-04-29 05:49:14 [debug] Driver 0: pos -9593, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15798, writes 0 timeouts 0
2025-04-29 05:49:14 [debug] Last sensors broadcast 0x00000000 found 0 248 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 90, 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 369, adv 35801/37149
2025-04-29 05:49:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10317, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:49:14 [info] currentZPosition:0.00328
2025-04-29 05:49:15 [debug] Stopped at height 0.003 mm
2025-04-29 05:49:15 [debug] Diagnostics for board 50:
2025-04-29 05:49:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:49:15 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:37:07 ago, cause: software
2025-04-29 05:49:15 [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
2025-04-29 05:49:15 [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
2025-04-29 05:49:15 [debug] Moves scheduled 25109, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 164, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=773, frequency (Hz): min=844, max=15306
Sync err accum 91, peak jitter 1/4, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2421711573 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, curr
2025-04-29 05:49:15 [debug] Driver 0: pos -9594, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18553, writes 11 timeouts 1
2025-04-29 05:49:15 [debug] Last sensors broadcast 0x00000000 found 0 81 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 95, 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 393, adv 35689/37060
2025-04-29 05:49:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10326, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:49:15 [info] currentZPosition:0.00318
2025-04-29 05:49:17 [debug] Stopped at height 0.003 mm
2025-04-29 05:49:17 [debug] Diagnostics for board 50:
2025-04-29 05:49:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:49:17 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:37:08 ago, cause: software
2025-04-29 05:49:17 [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
2025-04-29 05:49:17 [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
2025-04-29 05:49:17 [debug] Moves scheduled 25113, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=533, frequency (Hz): min=1521, max=15306
Sync err accum 97, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2420694028 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.1C, max 
2025-04-29 05:49:17 [debug] Driver 0: pos -9594, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15736, writes 0 timeouts 0
2025-04-29 05:49:17 [debug] Last sensors broadcast 0x00000000 found 0 188 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 90, 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 366, adv 35978/37123
2025-04-29 05:49:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10311, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:49:17 [info] currentZPosition:0.00318
2025-04-29 05:49:18 [debug] Stopped at height 0.003 mm
2025-04-29 05:49:18 [debug] Diagnostics for board 50:
2025-04-29 05:49:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:49:18 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:37:10 ago, cause: software
2025-04-29 05:49:18 [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
2025-04-29 05:49:18 [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
2025-04-29 05:49:18 [debug] Moves scheduled 25117, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=492, frequency (Hz): min=1515, max=15306
Sync err accum 97, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 2419507122 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:49:18 [debug] Driver 0: pos -9592, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18538, writes 0 timeouts 0
2025-04-29 05:49:18 [debug] Last sensors broadcast 0x00000000 found 0 19 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 91, 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 364, adv 36351/37138
2025-04-29 05:49:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10349, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:49:18 [info] currentZPosition:0.00338
2025-04-29 05:49:20 [debug] Stopped at height 0.003 mm
2025-04-29 05:49:20 [debug] Diagnostics for board 50:
2025-04-29 05:49:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:49:20 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:37:11 ago, cause: software
2025-04-29 05:49:20 [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
2025-04-29 05:49:20 [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
2025-04-29 05:49:20 [debug] Moves scheduled 25121, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 338, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=698, frequency (Hz): min=1250, max=15000
Sync err accum 92, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 2418491718 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:49:20 [debug] Driver 0: pos -9591, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15612, writes 0 timeouts 0
2025-04-29 05:49:20 [debug] Last sensors broadcast 0x00000000 found 0 124 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 88, 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 369, adv 36188/37138
2025-04-29 05:49:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10343, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2267
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:49:20 [info] currentZPosition:0.00348
2025-04-29 05:49:21 [debug] Stopped at height 0.004 mm
2025-04-29 05:49:21 [debug] Diagnostics for board 50:
2025-04-29 05:49:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:49:21 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:37:12 ago, cause: software
2025-04-29 05:49:21 [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
2025-04-29 05:49:21 [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
2025-04-29 05:49:21 [debug] Moves scheduled 25125, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=601, frequency (Hz): min=1378, max=15306
Sync err accum 80, peak jitter -3/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 2417311377 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 05:49:21 [debug] Driver 0: pos -9590, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18432, writes 0 timeouts 0
2025-04-29 05:49:21 [debug] Last sensors broadcast 0x00000000 found 0 201 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 88, 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 354, adv 36228/37118
2025-04-29 05:49:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10295, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:49:21 [info] currentZPosition:0.00358
2025-04-29 05:49:23 [debug] Stopped at height 0.004 mm
2025-04-29 05:49:23 [debug] Diagnostics for board 50:
2025-04-29 05:49:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:49:23 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:37:14 ago, cause: software
2025-04-29 05:49:23 [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
2025-04-29 05:49:23 [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
2025-04-29 05:49:23 [debug] Moves scheduled 25129, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=534, frequency (Hz): min=1659, max=15306
Sync err accum 65, peak jitter -4/-2, peak Rx delay 201, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2416293734 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatu
2025-04-29 05:49:23 [debug] Driver 0: pos -9590, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15739, writes 0 timeouts 0
2025-04-29 05:49:23 [debug] Last sensors broadcast 0x00000000 found 0 54 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 88, 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 376, adv 35634/37129
2025-04-29 05:49:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10321, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4708, no error
Lin: Encoder reverse polarity: no, raw count 2268
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:49:23 [info] currentZPosition:0.00358
2025-04-29 05:49:24 [debug] Stopped at height 0.003 mm
2025-04-29 05:49:24 [debug] Diagnostics for board 50:
2025-04-29 05:49:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:49:24 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:37:15 ago, cause: software
2025-04-29 05:49:24 [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
2025-04-29 05:49:24 [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
2025-04-29 05:49:24 [debug] Moves scheduled 25133, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=640, frequency (Hz): min=700, max=15306
Sync err accum 70, peak jitter -2/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 2415102971 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:49:24 [debug] Driver 0: pos -9594, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18682, writes 11 timeouts 1
2025-04-29 05:49:24 [debug] Last sensors broadcast 0x00000000 found 0 143 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 92, 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 477, adv 36040/37109
2025-04-29 05:49:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10347, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2268
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:49:24 [info] currentZPosition:0.00318
2025-04-29 05:49:25 [debug] Stopped at height 0.004 mm
2025-04-29 05:49:25 [debug] Diagnostics for board 50:
2025-04-29 05:49:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:49:25 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:37:17 ago, cause: software
2025-04-29 05:49:25 [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
2025-04-29 05:49:25 [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
2025-04-29 05:49:25 [debug] Moves scheduled 25137, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=728, frequency (Hz): min=1109, max=15625
Sync err accum 83, peak jitter 2/3, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 2414100740 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:49:25 [debug] Driver 0: pos -9586, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15473, writes 0 timeouts 0
2025-04-29 05:49:25 [debug] Last sensors broadcast 0x00000000 found 0 231 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 85, 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 397, adv 35782/37120
2025-04-29 05:49:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10310, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2267
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:49:26 [info] currentZPosition:0.00398
2025-04-29 05:49:27 [debug] Stopped at height 0.003 mm
2025-04-29 05:49:27 [debug] Diagnostics for board 50:
2025-04-29 05:49:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:49:27 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:37:18 ago, cause: software
2025-04-29 05:49:27 [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
2025-04-29 05:49:27 [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
2025-04-29 05:49:27 [debug] Moves scheduled 25141, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=572, frequency (Hz): min=516, max=15306
Sync err accum 91, peak jitter 0/2, peak Rx delay 198, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2412892975 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-29 05:49:27 [debug] Driver 0: pos -9597, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18766, writes 11 timeouts 1
2025-04-29 05:49:27 [debug] Last sensors broadcast 0x00000000 found 0 88 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 96, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 370, adv 35979/37099
2025-04-29 05:49:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2267
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10340, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:49:27 [info] currentZPosition:0.00288
2025-04-29 05:49:28 [debug] Stopped at height 0.003 mm
2025-04-29 05:49:28 [debug] Diagnostics for board 50:
2025-04-29 05:49:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:49:28 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.7%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:37:20 ago, cause: software
2025-04-29 05:49:28 [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
2025-04-29 05:49:28 [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
2025-04-29 05:49:28 [debug] Moves scheduled 25145, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=700, frequency (Hz): min=1173, max=15306
Sync err accum 91, peak jitter -1/1, peak Rx delay 189, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 2411884143 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:49:28 [debug] Driver 0: pos -9593, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15519, writes 0 timeouts 0
2025-04-29 05:49:28 [debug] Last sensors broadcast 0x00000000 found 0 184 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 90, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36060/37105
2025-04-29 05:49:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10348, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2268
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:49:28 [info] currentZPosition:0.00328
2025-04-29 05:49:30 [debug] Stopped at height 0.004 mm
2025-04-29 05:49:30 [debug] Diagnostics for board 50:
2025-04-29 05:49:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:49:30 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:37:21 ago, cause: software
2025-04-29 05:49:30 [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
2025-04-29 05:49:30 [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
2025-04-29 05:49:30 [debug] Moves scheduled 25149, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=624, frequency (Hz): min=1353, max=15306
Sync err accum 87, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2410714882 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.4C, max
2025-04-29 05:49:30 [debug] Driver 0: pos -9585, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18311, writes 0 timeouts 0
2025-04-29 05:49:30 [debug] Last sensors broadcast 0x00000000 found 0 246 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 88, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 35812/37169
2025-04-29 05:49:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2265
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10287, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:49:30 [info] currentZPosition:0.00408
2025-04-29 05:49:31 [debug] Stopped at height 0.003 mm
2025-04-29 05:49:31 [debug] Diagnostics for board 50:
2025-04-29 05:49:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:49:31 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:37:23 ago, cause: software
2025-04-29 05:49:31 [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
2025-04-29 05:49:31 [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
2025-04-29 05:49:31 [debug] Moves scheduled 25153, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=596, frequency (Hz): min=1203, max=19230
Sync err accum 78, peak jitter -2/-1, peak Rx delay 194, resyncs 0/0, next timer interrupt due in 1 ticks, disabled, CC0 mismatch!!, next step interrupt due in 2409685238 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperat
2025-04-29 05:49:31 [debug] Driver 0: pos -9592, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15919, writes 0 timeouts 0
2025-04-29 05:49:31 [debug] Last sensors broadcast 0x00000000 found 0 116 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 89, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36200/37162
2025-04-29 05:49:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10333, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2267
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:49:31 [info] currentZPosition:0.00348
2025-04-29 05:49:33 [debug] Stopped at height 0.003 mm
2025-04-29 05:49:33 [debug] Diagnostics for board 50:
2025-04-29 05:49:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:49:33 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:37:24 ago, cause: software
2025-04-29 05:49:33 [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
2025-04-29 05:49:33 [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
2025-04-29 05:49:33 [debug] Moves scheduled 25157, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=641, frequency (Hz): min=1177, max=15625
Sync err accum 66, peak jitter -2/0, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 2408496947 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:49:33 [debug] Driver 0: pos -9595, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18557, writes 0 timeouts 0
2025-04-29 05:49:33 [debug] Last sensors broadcast 0x00000000 found 0 201 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 94, 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 355, adv 35716/37126
2025-04-29 05:49:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10312, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:49:33 [info] currentZPosition:0.00318
2025-04-29 05:49:34 [debug] Stopped at height 0.004 mm
2025-04-29 05:49:34 [debug] Diagnostics for board 50:
2025-04-29 05:49:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:49:34 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.3%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:37:26 ago, cause: software
2025-04-29 05:49:34 [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
2025-04-29 05:49:34 [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
2025-04-29 05:49:34 [debug] Moves scheduled 25161, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=642, frequency (Hz): min=1371, max=15306
Sync err accum 64, peak jitter -3/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 1 ticks, disabled, next step interrupt due in 2407488660 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 05:49:34 [debug] Driver 0: pos -9590, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15561, writes 0 timeouts 0
2025-04-29 05:49:34 [debug] Last sensors broadcast 0x00000000 found 0 47 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 89, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 35672/37148
2025-04-29 05:49:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10305, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2268
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:49:34 [info] currentZPosition:0.00368
2025-04-29 05:49:36 [debug] Stopped at height 0.003 mm
2025-04-29 05:49:36 [debug] Diagnostics for board 50:
2025-04-29 05:49:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:49:36 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:37:27 ago, cause: software
2025-04-29 05:49:36 [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
2025-04-29 05:49:36 [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
2025-04-29 05:49:36 [debug] Moves scheduled 25165, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=513, frequency (Hz): min=1777, max=15306
Sync err accum 75, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2406293197 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:49:36 [debug] Driver 0: pos -9593, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18721, writes 0 timeouts 0
2025-04-29 05:49:36 [debug] Last sensors broadcast 0x00000000 found 0 138 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 90, 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 338, adv 35627/37157
2025-04-29 05:49:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10348, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:49:36 [info] currentZPosition:0.00338
2025-04-29 05:49:37 [debug] Stopped at height 0.003 mm
2025-04-29 05:49:37 [debug] Diagnostics for board 50:
2025-04-29 05:49:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:49:37 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.7%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:37:28 ago, cause: software
2025-04-29 05:49:37 [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
2025-04-29 05:49:37 [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
2025-04-29 05:49:37 [debug] Moves scheduled 25169, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=649, frequency (Hz): min=1341, max=15306
Sync err accum 76, peak jitter -1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 1 ticks, disabled, next step interrupt due in 2405268991 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 05:49:37 [debug] Driver 0: pos -9596, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15894, writes 0 timeouts 0
2025-04-29 05:49:37 [debug] Last sensors broadcast 0x00000000 found 0 6 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 93, 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 411, adv 35866/37115
2025-04-29 05:49:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10365, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:49:37 [info] currentZPosition:0.00308
2025-04-29 05:49:39 [debug] Stopped at height 0.003 mm
2025-04-29 05:49:39 [debug] Diagnostics for board 50:
2025-04-29 05:49:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:49:39 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:37:30 ago, cause: software
2025-04-29 05:49:39 [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
2025-04-29 05:49:39 [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
2025-04-29 05:49:39 [debug] Moves scheduled 25173, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=642, frequency (Hz): min=1344, max=15306
Sync err accum 75, peak jitter -1/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 0 ticks, enabled, next step interrupt due in 2404090975 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:49:39 [debug] Driver 0: pos -9592, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18400, writes 0 timeouts 0
2025-04-29 05:49:39 [debug] Last sensors broadcast 0x00000000 found 0 78 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 89, 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 367, adv 36250/37122
2025-04-29 05:49:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2269
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10315, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:49:39 [info] currentZPosition:0.00348
2025-04-29 05:49:40 [debug] Stopped at height 0.003 mm
2025-04-29 05:49:40 [debug] Diagnostics for board 50:
2025-04-29 05:49:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:49:40 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:37:31 ago, cause: software
2025-04-29 05:49:40 [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
2025-04-29 05:49:40 [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
2025-04-29 05:49:40 [debug] Moves scheduled 25177, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=590, frequency (Hz): min=1394, max=15306
Sync err accum 67, peak jitter -2/-1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2403069156 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatu
2025-04-29 05:49:40 [debug] Driver 0: pos -9594, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15726, writes 0 timeouts 0
2025-04-29 05:49:40 [debug] Last sensors broadcast 0x00000000 found 0 186 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 88, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 36046/37164
2025-04-29 05:49:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2269
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10340, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:49:40 [info] currentZPosition:0.00328
2025-04-29 05:49:42 [debug] Stopped at height 0.003 mm
2025-04-29 05:49:42 [debug] Diagnostics for board 50:
2025-04-29 05:49:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:49:42 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:37:33 ago, cause: software
2025-04-29 05:49:42 [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
2025-04-29 05:49:42 [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
2025-04-29 05:49:42 [debug] Moves scheduled 25181, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 275, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=568, frequency (Hz): min=1447, max=15306
Sync err accum 64, peak jitter -3/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2401870365 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.4C, max
2025-04-29 05:49:42 [debug] Driver 0: pos -9599, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18717, writes 0 timeouts 0
2025-04-29 05:49:42 [debug] Last sensors broadcast 0x00000000 found 0 37 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 102, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36161/37091
2025-04-29 05:49:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10354, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2268
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:49:42 [info] currentZPosition:0.00278
2025-04-29 05:49:43 [debug] Stopped at height 0.004 mm
2025-04-29 05:49:43 [debug] Diagnostics for board 50:
2025-04-29 05:49:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:49:43 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.1%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:37:34 ago, cause: software
2025-04-29 05:49:43 [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
2025-04-29 05:49:43 [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
2025-04-29 05:49:43 [debug] Moves scheduled 25185, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=780, frequency (Hz): min=508, max=15306
Sync err accum 67, peak jitter -1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2400877509 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 05:49:43 [debug] Driver 0: pos -9586, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15380, writes 11 timeouts 1
2025-04-29 05:49:43 [debug] Last sensors broadcast 0x00000000 found 0 111 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 83, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 35790/37120
2025-04-29 05:49:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2267
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10294, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4708, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:49:43 [info] currentZPosition:0.00408
2025-04-29 05:49:43 [debug] Stopped at height 0.004 mm
2025-04-29 05:49:45 [debug] Stopped at height 0.003 mm
2025-04-29 05:49:45 [debug] Diagnostics for board 50:
2025-04-29 05:49:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:49:45 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:37:36 ago, cause: software
2025-04-29 05:49:45 [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
2025-04-29 05:49:45 [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
2025-04-29 05:49:45 [debug] Moves scheduled 25191, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=580, frequency (Hz): min=1479, max=15625
Sync err accum 75, peak jitter 0/2, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2399442262 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.4C, max 
2025-04-29 05:49:45 [debug] Driver 0: pos -9595, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 22743, writes 0 timeouts 0
2025-04-29 05:49:45 [debug] Last sensors broadcast 0x00000000 found 0 25 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 108, 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 369, adv 36040/37119
2025-04-29 05:49:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10318, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:49:45 [info] currentZPosition:0.00318
2025-04-29 05:49:46 [debug] Stopped at height 0.004 mm
2025-04-29 05:49:46 [debug] Diagnostics for board 50:
2025-04-29 05:49:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:49:46 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.3%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:37:38 ago, cause: software
2025-04-29 05:49:46 [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
2025-04-29 05:49:46 [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
2025-04-29 05:49:46 [debug] Moves scheduled 25195, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=688, frequency (Hz): min=1188, max=15625
Sync err accum 74, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2398436269 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.4C, max
2025-04-29 05:49:46 [debug] Driver 0: pos -9586, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15519, writes 0 timeouts 0
2025-04-29 05:49:46 [debug] Last sensors broadcast 0x00000000 found 0 115 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 85, 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 411, adv 36305/37107
2025-04-29 05:49:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10284, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4708, no error
Lin: Encoder reverse polarity: no, raw count 2266
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:49:46 [info] currentZPosition:0.00408
2025-04-29 05:49:48 [debug] Stopped at height 0.004 mm
2025-04-29 05:49:48 [debug] Diagnostics for board 50:
2025-04-29 05:49:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:49:48 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:37:39 ago, cause: software
2025-04-29 05:49:48 [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
2025-04-29 05:49:48 [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
2025-04-29 05:49:48 [debug] Moves scheduled 25199, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=533, frequency (Hz): min=535, max=15306
Sync err accum 69, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 2397242382 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:49:48 [debug] Driver 0: pos -9591, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18725, writes 11 timeouts 1
2025-04-29 05:49:48 [debug] Last sensors broadcast 0x00000000 found 0 208 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 85, 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 347, adv 35921/37110
2025-04-29 05:49:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10325, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4709, no error
Lin: Encoder reverse polarity: no, raw count 2268
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:49:48 [info] currentZPosition:0.00358
2025-04-29 05:49:49 [debug] Stopped at height 0.003 mm
2025-04-29 05:49:49 [debug] Diagnostics for board 50:
2025-04-29 05:49:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:49:49 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:37:41 ago, cause: software
2025-04-29 05:49:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 05:49:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 05:49:49 [debug] Moves scheduled 25203, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 423, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=633, frequency (Hz): min=1445, max=15306
Sync err accum 64, peak jitter -2/1, peak Rx delay 204, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 2396205812 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:49:49 [debug] Driver 0: pos -9597, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15950, writes 0 timeouts 0
2025-04-29 05:49:49 [debug] Last sensors broadcast 0x00000000 found 0 89 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 96, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 35716/37126
2025-04-29 05:49:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10350, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:49:49 [info] currentZPosition:0.00298
2025-04-29 05:49:51 [debug] Stopped at height 0.003 mm
2025-04-29 05:49:51 [debug] Diagnostics for board 50:
2025-04-29 05:49:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:49:51 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:37:42 ago, cause: software
2025-04-29 05:49:51 [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
2025-04-29 05:49:51 [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
2025-04-29 05:49:51 [debug] Moves scheduled 25207, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=433, frequency (Hz): min=889, max=15306
Sync err accum 68, peak jitter 0/1, peak Rx delay 187, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2395024869 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.4C, max 3
2025-04-29 05:49:51 [debug] Driver 0: pos -9594, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18413, writes 11 timeouts 1
2025-04-29 05:49:51 [debug] Last sensors broadcast 0x00000000 found 0 163 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 92, 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 396, adv 35770/37153
2025-04-29 05:49:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10343, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:49:51 [info] currentZPosition:0.00328
2025-04-29 05:49:52 [debug] Stopped at height 0.003 mm
2025-04-29 05:49:52 [debug] Diagnostics for board 50:
2025-04-29 05:49:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:49:52 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:37:44 ago, cause: software
2025-04-29 05:49:52 [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
2025-04-29 05:49:52 [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
2025-04-29 05:49:52 [debug] Moves scheduled 25211, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 241, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=986, frequency (Hz): min=948, max=15306
Sync err accum 65, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2393995345 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.4C, max 
2025-04-29 05:49:52 [debug] Driver 0: pos -9597, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15952, writes 0 timeouts 0
2025-04-29 05:49:52 [debug] Last sensors broadcast 0x00000000 found 0 40 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 95, 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 336, adv 35965/37125
2025-04-29 05:49:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10344, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4710, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:49:52 [info] currentZPosition:0.00298
2025-04-29 05:49:54 [debug] Stopped at height 0.003 mm
2025-04-29 05:49:54 [debug] Diagnostics for board 50:
2025-04-29 05:49:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:49:54 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:37:45 ago, cause: software
2025-04-29 05:49:54 [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
2025-04-29 05:49:54 [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
2025-04-29 05:49:54 [debug] Moves scheduled 25215, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 311, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=534, frequency (Hz): min=1114, max=15306
Sync err accum 69, peak jitter -1/2, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2392815950 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.4C, max
2025-04-29 05:49:54 [debug] Driver 0: pos -9594, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18335, writes 0 timeouts 0
2025-04-29 05:49:54 [debug] Last sensors broadcast 0x00000000 found 0 109 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 93, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 35652/37137
2025-04-29 05:49:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10344, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2267
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:49:54 [info] currentZPosition:0.00328
2025-04-29 05:49:55 [debug] Stopped at height 0.003 mm
2025-04-29 05:49:55 [debug] Diagnostics for board 50:
2025-04-29 05:49:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:49:55 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:37:46 ago, cause: software
2025-04-29 05:49:55 [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
2025-04-29 05:49:55 [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
2025-04-29 05:49:55 [debug] Moves scheduled 25219, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=612, frequency (Hz): min=1341, max=15306
Sync err accum 76, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 0 ticks, enabled, next step interrupt due in 2391792377 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:49:55 [debug] Driver 0: pos -9594, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15850, writes 0 timeouts 0
2025-04-29 05:49:55 [debug] Last sensors broadcast 0x00000000 found 0 224 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 89, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36091/37143
2025-04-29 05:49:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2267
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10322, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:49:55 [info] currentZPosition:0.00328
2025-04-29 05:49:57 [debug] Stopped at height 0.003 mm
2025-04-29 05:49:57 [debug] Diagnostics for board 50:
2025-04-29 05:49:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:49:57 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:37:48 ago, cause: software
2025-04-29 05:49:57 [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
2025-04-29 05:49:57 [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
2025-04-29 05:49:57 [debug] Moves scheduled 25223, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=530, frequency (Hz): min=1279, max=15306
Sync err accum 79, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2390606787 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.4C, max 
2025-04-29 05:49:57 [debug] Driver 0: pos -9597, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18557, writes 0 timeouts 0
2025-04-29 05:49:57 [debug] Last sensors broadcast 0x00000000 found 0 58 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 96, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36359/37106
2025-04-29 05:49:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10328, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:49:57 [info] currentZPosition:0.00298
2025-04-29 05:49:58 [debug] Stopped at height 0.002 mm
2025-04-29 05:49:58 [debug] Diagnostics for board 50:
2025-04-29 05:49:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:49:58 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:37:49 ago, cause: software
2025-04-29 05:49:58 [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
2025-04-29 05:49:58 [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
2025-04-29 05:49:58 [debug] Moves scheduled 25227, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=588, frequency (Hz): min=1431, max=15306
Sync err accum 77, peak jitter -1/0, peak Rx delay 189, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 2389571606 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:49:58 [debug] Driver 0: pos -9602, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15906, writes 0 timeouts 0
2025-04-29 05:49:58 [debug] Last sensors broadcast 0x00000000 found 0 186 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 98, 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 348, adv 36295/37124
2025-04-29 05:49:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2268
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10365, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:49:58 [info] currentZPosition:0.00249
2025-04-29 05:50:00 [debug] Stopped at height 0.003 mm
2025-04-29 05:50:00 [debug] Diagnostics for board 50:
2025-04-29 05:50:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:50:00 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:37:51 ago, cause: software
2025-04-29 05:50:00 [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
2025-04-29 05:50:00 [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
2025-04-29 05:50:00 [debug] Moves scheduled 25231, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=565, frequency (Hz): min=1518, max=15306
Sync err accum 68, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2388399931 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.4C, max
2025-04-29 05:50:00 [debug] Driver 0: pos -9595, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18221, writes 0 timeouts 0
2025-04-29 05:50:00 [debug] Last sensors broadcast 0x00000000 found 0 247 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 90, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36253/37130
2025-04-29 05:50:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10330, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:50:00 [info] currentZPosition:0.00318
2025-04-29 05:50:01 [debug] Stopped at height 0.003 mm
2025-04-29 05:50:01 [debug] Diagnostics for board 50:
2025-04-29 05:50:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:50:01 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:37:52 ago, cause: software
2025-04-29 05:50:01 [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
2025-04-29 05:50:01 [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
2025-04-29 05:50:01 [debug] Moves scheduled 25235, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=609, frequency (Hz): min=1540, max=15306
Sync err accum 61, peak jitter -2/-1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2387361112 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatu
2025-04-29 05:50:01 [debug] Driver 0: pos -9601, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15871, writes 0 timeouts 0
2025-04-29 05:50:01 [debug] Last sensors broadcast 0x00000000 found 0 132 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 100, 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 347, adv 35726/37126
2025-04-29 05:50:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10366, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:50:01 [info] currentZPosition:0.00268
2025-04-29 05:50:03 [debug] Stopped at height 0.003 mm
2025-04-29 05:50:03 [debug] Diagnostics for board 50:
2025-04-29 05:50:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:50:03 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:37:54 ago, cause: software
2025-04-29 05:50:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 05:50:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 05:50:03 [debug] Moves scheduled 25239, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=689, frequency (Hz): min=1227, max=15306
Sync err accum 73, peak jitter -1/3, peak Rx delay 187, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2386189501 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.4C, max
2025-04-29 05:50:03 [debug] Driver 0: pos -9596, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18210, writes 0 timeouts 0
2025-04-29 05:50:03 [debug] Last sensors broadcast 0x00000000 found 0 194 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 94, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36080/37163
2025-04-29 05:50:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2268
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10349, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:50:03 [info] currentZPosition:0.00318
2025-04-29 05:50:04 [debug] Stopped at height 0.004 mm
2025-04-29 05:50:04 [debug] Diagnostics for board 50:
2025-04-29 05:50:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:50:04 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:37:55 ago, cause: software
2025-04-29 05:50:04 [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
2025-04-29 05:50:04 [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
2025-04-29 05:50:04 [debug] Moves scheduled 25243, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=636, frequency (Hz): min=1313, max=15306
Sync err accum 83, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 2385172314 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:50:04 [debug] Driver 0: pos -9591, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15681, writes 0 timeouts 0
2025-04-29 05:50:04 [debug] Last sensors broadcast 0x00000000 found 0 52 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 89, 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 330, adv 35886/37145
2025-04-29 05:50:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10335, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2267
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:50:04 [info] currentZPosition:0.00368
2025-04-29 05:50:06 [debug] Stopped at height 0.003 mm
2025-04-29 05:50:06 [debug] Diagnostics for board 50:
2025-04-29 05:50:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:50:06 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:37:57 ago, cause: software
2025-04-29 05:50:06 [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
2025-04-29 05:50:06 [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
2025-04-29 05:50:06 [debug] Moves scheduled 25247, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=536, frequency (Hz): min=1543, max=15625
Sync err accum 91, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 2383979749 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:50:06 [debug] Driver 0: pos -9596, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18548, writes 0 timeouts 0
2025-04-29 05:50:06 [debug] Last sensors broadcast 0x00000000 found 0 139 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 92, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36004/37113
2025-04-29 05:50:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10368, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:50:06 [info] currentZPosition:0.00318
2025-04-29 05:50:07 [debug] Stopped at height 0.003 mm
2025-04-29 05:50:07 [debug] Diagnostics for board 50:
2025-04-29 05:50:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:50:07 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:37:58 ago, cause: software
2025-04-29 05:50:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 05:50:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 05:50:07 [debug] Moves scheduled 25251, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=826, frequency (Hz): min=1150, max=15306
Sync err accum 92, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 2382963496 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:50:07 [debug] Driver 0: pos -9594, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15652, writes 0 timeouts 0
2025-04-29 05:50:07 [debug] Last sensors broadcast 0x00000000 found 0 245 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 87, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36058/37111
2025-04-29 05:50:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10329, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:50:07 [info] currentZPosition:0.00348
2025-04-29 05:50:09 [debug] Stopped at height 0.004 mm
2025-04-29 05:50:09 [debug] Diagnostics for board 50:
2025-04-29 05:50:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:50:09 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:38:00 ago, cause: software
2025-04-29 05:50:09 [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
2025-04-29 05:50:09 [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
2025-04-29 05:50:09 [debug] Moves scheduled 25255, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=470, frequency (Hz): min=1470, max=15306
Sync err accum 88, peak jitter -1/0, peak Rx delay 186, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2381793218 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:50:09 [debug] Driver 0: pos -9587, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18298, writes 0 timeouts 0
2025-04-29 05:50:09 [debug] Last sensors broadcast 0x00000000 found 0 55 ticks ago, 0 ordering errs, loop time 2
CAN messages queued 90, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 35918/37102
2025-04-29 05:50:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10290, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:50:09 [info] currentZPosition:0.00417
2025-04-29 05:50:10 [debug] Stopped at height 0.003 mm
2025-04-29 05:50:10 [debug] Diagnostics for board 50:
2025-04-29 05:50:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:50:10 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:38:01 ago, cause: software
2025-04-29 05:50:10 [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
2025-04-29 05:50:10 [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
2025-04-29 05:50:10 [debug] Moves scheduled 25259, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=1008, frequency (Hz): min=572, max=15306
Sync err accum 78, peak jitter -2/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 4294967241 ticks, disabled, next step interrupt due in 2380743114 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min
2025-04-29 05:50:10 [debug] Driver 0: pos -9601, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16111, writes 11 timeouts 1
2025-04-29 05:50:10 [debug] Last sensors broadcast 0x00000000 found 0 205 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 95, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36184/37168
2025-04-29 05:50:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10392, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:50:10 [info] currentZPosition:0.00278
2025-04-29 05:50:10 [debug] Stopped at height 0.002 mm
2025-04-29 05:50:12 [debug] Stopped at height 0.004 mm
2025-04-29 05:50:12 [debug] Diagnostics for board 50:
2025-04-29 05:50:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:50:12 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:38:03 ago, cause: software
2025-04-29 05:50:12 [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
2025-04-29 05:50:12 [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
2025-04-29 05:50:12 [debug] Moves scheduled 25265, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=529, frequency (Hz): min=1373, max=15306
Sync err accum 60, peak jitter -3/0, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2379345592 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.4C, max
2025-04-29 05:50:12 [debug] Driver 0: pos -9588, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 21905, writes 0 timeouts 0
2025-04-29 05:50:12 [debug] Last sensors broadcast 0x00000000 found 0 71 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 105, 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 444, adv 35799/37122
2025-04-29 05:50:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10330, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4709, no error
Lin: Encoder reverse polarity: no, raw count 2266
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:50:12 [info] currentZPosition:0.00408
2025-04-29 05:50:12 [debug] Stopped at height 0.003 mm
2025-04-29 05:50:13 [debug] Stopped at height 0.004 mm
2025-04-29 05:50:13 [debug] Diagnostics for board 50:
2025-04-29 05:50:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:50:13 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.2%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:38:05 ago, cause: software
2025-04-29 05:50:13 [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
2025-04-29 05:50:13 [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
2025-04-29 05:50:13 [debug] Moves scheduled 25271, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=5, max=661, frequency (Hz): min=592, max=15306
Sync err accum 75, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2378088731 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.4C, max 3
2025-04-29 05:50:13 [debug] Driver 0: pos -9588, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 19610, writes 11 timeouts 1
2025-04-29 05:50:13 [debug] Last sensors broadcast 0x00000000 found 0 245 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 97, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 394, adv 35662/37121
2025-04-29 05:50:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10333, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4707, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:50:14 [info] currentZPosition:0.00408
2025-04-29 05:50:15 [debug] Stopped at height 0.004 mm
2025-04-29 05:50:15 [debug] Diagnostics for board 50:
2025-04-29 05:50:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:50:15 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:38:06 ago, cause: software
2025-04-29 05:50:15 [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
2025-04-29 05:50:15 [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
2025-04-29 05:50:15 [debug] Moves scheduled 25275, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 795, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=564, frequency (Hz): min=1512, max=15306
Sync err accum 82, peak jitter 0/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2376902985 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:50:15 [debug] Driver 0: pos -9591, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18573, writes 0 timeouts 0
2025-04-29 05:50:15 [debug] Last sensors broadcast 0x00000000 found 0 77 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 88, 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 367, adv 35698/37163
2025-04-29 05:50:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10316, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:50:15 [info] currentZPosition:0.00388
2025-04-29 05:50:16 [debug] Stopped at height 0.005 mm
2025-04-29 05:50:16 [debug] Diagnostics for board 50:
2025-04-29 05:50:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:50:16 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:38:08 ago, cause: software
2025-04-29 05:50:16 [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
2025-04-29 05:50:16 [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
2025-04-29 05:50:16 [debug] Moves scheduled 25279, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 420, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=622, frequency (Hz): min=1207, max=15306
Sync err accum 84, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2375891466 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.4C, max
2025-04-29 05:50:16 [debug] Driver 0: pos -9584, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15659, writes 0 timeouts 0
2025-04-29 05:50:16 [debug] Last sensors broadcast 0x00000000 found 0 175 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 85, 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 386, adv 35829/37173
2025-04-29 05:50:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2269
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10254, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4709, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:50:16 [info] currentZPosition:0.00457
2025-04-29 05:50:18 [debug] Stopped at height 0.003 mm
2025-04-29 05:50:18 [debug] Diagnostics for board 50:
2025-04-29 05:50:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:50:18 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:38:09 ago, cause: software
2025-04-29 05:50:18 [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
2025-04-29 05:50:18 [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
2025-04-29 05:50:18 [debug] Moves scheduled 25283, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 305, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=661, frequency (Hz): min=1318, max=15306
Sync err accum 82, peak jitter -1/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 2374678503 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:50:18 [debug] Driver 0: pos -9601, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18943, writes 0 timeouts 0
2025-04-29 05:50:18 [debug] Last sensors broadcast 0x00000000 found 0 42 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 98, 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 388, adv 36272/37114
2025-04-29 05:50:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10361, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:50:18 [info] currentZPosition:0.00288
2025-04-29 05:50:18 [debug] Stopped at height 0.002 mm
2025-04-29 05:50:20 [debug] Stopped at height 0.004 mm
2025-04-29 05:50:20 [debug] Diagnostics for board 50:
2025-04-29 05:50:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:50:20 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.8%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:38:11 ago, cause: software
2025-04-29 05:50:20 [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
2025-04-29 05:50:20 [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
2025-04-29 05:50:20 [debug] Moves scheduled 25289, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=721, frequency (Hz): min=1237, max=15306
Sync err accum 71, peak jitter -2/-1, peak Rx delay 185, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2373426778 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.4C, ma
2025-04-29 05:50:20 [debug] Driver 0: pos -9594, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 19433, writes 0 timeouts 0
2025-04-29 05:50:20 [debug] Last sensors broadcast 0x00000000 found 0 212 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 106, 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 378, adv 36055/37149
2025-04-29 05:50:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10317, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:50:20 [info] currentZPosition:0.00358
2025-04-29 05:50:21 [debug] Stopped at height 0.004 mm
2025-04-29 05:50:21 [debug] Diagnostics for board 50:
2025-04-29 05:50:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:50:21 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:38:13 ago, cause: software
2025-04-29 05:50:21 [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
2025-04-29 05:50:21 [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
2025-04-29 05:50:21 [debug] Moves scheduled 25293, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=525, frequency (Hz): min=1442, max=15625
Sync err accum 62, peak jitter -3/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2372262651 ticks, 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
2025-04-29 05:50:21 [debug] Driver 0: pos -9586, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18200, writes 0 timeouts 0
2025-04-29 05:50:21 [debug] Last sensors broadcast 0x00000000 found 0 14 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 92, 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 397, adv 36155/37126
2025-04-29 05:50:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2265
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10271, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:50:21 [info] currentZPosition:0.00437
2025-04-29 05:50:23 [debug] Stopped at height 0.004 mm
2025-04-29 05:50:23 [debug] Diagnostics for board 50:
2025-04-29 05:50:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:50:23 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:38:14 ago, cause: software
2025-04-29 05:50:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 05:50:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 05:50:23 [debug] Moves scheduled 25297, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=706, frequency (Hz): min=1313, max=15306
Sync err accum 75, peak jitter 2/3, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2371223759 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.4C, max 
2025-04-29 05:50:23 [debug] Driver 0: pos -9594, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16100, writes 0 timeouts 0
2025-04-29 05:50:23 [debug] Last sensors broadcast 0x00000000 found 0 149 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 88, 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 389, adv 36132/37112
2025-04-29 05:50:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10348, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:50:23 [info] currentZPosition:0.00368
2025-04-29 05:50:24 [debug] Stopped at height 0.003 mm
2025-04-29 05:50:24 [debug] Diagnostics for board 50:
2025-04-29 05:50:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:50:24 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:38:15 ago, cause: software
2025-04-29 05:50:24 [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
2025-04-29 05:50:24 [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
2025-04-29 05:50:24 [debug] Moves scheduled 25301, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=664, frequency (Hz): min=1391, max=15306
Sync err accum 82, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2370027367 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.4C, max 
2025-04-29 05:50:24 [debug] Driver 0: pos -9599, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18725, writes 0 timeouts 0
2025-04-29 05:50:24 [debug] Last sensors broadcast 0x00000000 found 0 245 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 98, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36105/37137
2025-04-29 05:50:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10387, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:50:24 [info] currentZPosition:0.00318
2025-04-29 05:50:26 [debug] Stopped at height 0.004 mm
2025-04-29 05:50:26 [debug] Diagnostics for board 50:
2025-04-29 05:50:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:50:26 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,8.0%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:38:17 ago, cause: software
2025-04-29 05:50:26 [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
2025-04-29 05:50:26 [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
2025-04-29 05:50:26 [debug] Moves scheduled 25305, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=602, frequency (Hz): min=1295, max=15306
Sync err accum 87, peak jitter 0/2, peak Rx delay 199, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2369014142 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.4C, max 
2025-04-29 05:50:26 [debug] Driver 0: pos -9594, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15498, writes 0 timeouts 0
2025-04-29 05:50:26 [debug] Last sensors broadcast 0x00000000 found 0 94 ticks ago, 0 ordering errs, loop time 2
CAN messages queued 94, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 364, adv 35587/37124
2025-04-29 05:50:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10354, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:50:26 [info] currentZPosition:0.00368
2025-04-29 05:50:27 [debug] Stopped at height 0.003 mm
2025-04-29 05:50:27 [debug] Diagnostics for board 50:
2025-04-29 05:50:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:50:27 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:38:18 ago, cause: software
2025-04-29 05:50:27 [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
2025-04-29 05:50:27 [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
2025-04-29 05:50:27 [debug] Moves scheduled 25309, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 309, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=558, frequency (Hz): min=1313, max=15625
Sync err accum 86, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2367816093 ticks, 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
2025-04-29 05:50:27 [debug] Driver 0: pos -9603, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18633, writes 0 timeouts 0
2025-04-29 05:50:27 [debug] Last sensors broadcast 0x00000000 found 0 193 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 98, 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 376, adv 35988/37145
2025-04-29 05:50:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10351, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:50:27 [info] currentZPosition:0.00278
2025-04-29 05:50:28 [debug] Stopped at height 0.003 mm
2025-04-29 05:50:28 [debug] Diagnostics for board 50:
2025-04-29 05:50:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:50:28 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.8%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:38:20 ago, cause: software
2025-04-29 05:50:28 [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
2025-04-29 05:50:28 [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
2025-04-29 05:50:28 [debug] Moves scheduled 25313, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=577, frequency (Hz): min=1129, max=15306
Sync err accum 82, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2366801762 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:50:28 [debug] Driver 0: pos -9597, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15513, writes 0 timeouts 0
2025-04-29 05:50:28 [debug] Last sensors broadcast 0x00000000 found 0 45 ticks ago, 0 ordering errs, loop time 2
CAN messages queued 94, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 35801/37137
2025-04-29 05:50:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2269
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10343, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:50:29 [info] currentZPosition:0.00338
2025-04-29 05:50:30 [debug] Stopped at height 0.003 mm
2025-04-29 05:50:30 [debug] Diagnostics for board 50:
2025-04-29 05:50:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:50:30 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:38:21 ago, cause: software
2025-04-29 05:50:30 [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
2025-04-29 05:50:30 [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
2025-04-29 05:50:30 [debug] Moves scheduled 25317, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=597, frequency (Hz): min=1515, max=15306
Sync err accum 68, peak jitter -3/0, peak Rx delay 210, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2365622448 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.4C, max
2025-04-29 05:50:30 [debug] Driver 0: pos -9596, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18317, writes 0 timeouts 0
2025-04-29 05:50:30 [debug] Last sensors broadcast 0x00000000 found 0 118 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 94, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 35912/37139
2025-04-29 05:50:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2269
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10367, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:50:30 [info] currentZPosition:0.00348
2025-04-29 05:50:31 [debug] Stopped at height 0.004 mm
2025-04-29 05:50:31 [debug] Diagnostics for board 50:
2025-04-29 05:50:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:50:31 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:38:23 ago, cause: software
2025-04-29 05:50:31 [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
2025-04-29 05:50:31 [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
2025-04-29 05:50:31 [debug] Moves scheduled 25321, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=604, frequency (Hz): min=1439, max=15306
Sync err accum 60, peak jitter -3/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2364603259 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:50:31 [debug] Driver 0: pos -9593, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15664, writes 0 timeouts 0
2025-04-29 05:50:31 [debug] Last sensors broadcast 0x00000000 found 0 227 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 90, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 35942/37093
2025-04-29 05:50:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10354, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2267
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:50:32 [info] currentZPosition:0.00378
2025-04-29 05:50:33 [debug] Stopped at height 0.004 mm
2025-04-29 05:50:33 [debug] Diagnostics for board 50:
2025-04-29 05:50:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:50:33 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:38:24 ago, cause: software
2025-04-29 05:50:33 [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
2025-04-29 05:50:33 [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
2025-04-29 05:50:33 [debug] Moves scheduled 25325, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=553, frequency (Hz): min=1383, max=15306
Sync err accum 74, peak jitter 1/3, peak Rx delay 184, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2363421505 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.4C, max 
2025-04-29 05:50:33 [debug] Driver 0: pos -9594, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18452, writes 0 timeouts 0
2025-04-29 05:50:33 [debug] Last sensors broadcast 0x00000000 found 0 51 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 96, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 35798/37140
2025-04-29 05:50:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10348, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:50:33 [info] currentZPosition:0.00368
2025-04-29 05:50:34 [debug] Stopped at height 0.004 mm
2025-04-29 05:50:34 [debug] Diagnostics for board 50:
2025-04-29 05:50:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:50:34 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:38:26 ago, cause: software
2025-04-29 05:50:34 [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
2025-04-29 05:50:34 [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
2025-04-29 05:50:34 [debug] Moves scheduled 25329, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 427, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=618, frequency (Hz): min=1485, max=15306
Sync err accum 79, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2362395753 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.4C, max 
2025-04-29 05:50:34 [debug] Driver 0: pos -9595, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15808, writes 0 timeouts 0
2025-04-29 05:50:34 [debug] Last sensors broadcast 0x00000000 found 0 170 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 89, 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 515, adv 36095/37066
2025-04-29 05:50:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10359, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:50:34 [info] currentZPosition:0.00358
2025-04-29 05:50:36 [debug] Stopped at height 0.004 mm
2025-04-29 05:50:36 [debug] Diagnostics for board 50:
2025-04-29 05:50:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:50:36 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:38:27 ago, cause: software
2025-04-29 05:50:36 [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
2025-04-29 05:50:36 [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
2025-04-29 05:50:36 [debug] Moves scheduled 25333, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=648, frequency (Hz): min=1171, max=15306
Sync err accum 80, peak jitter 0/1, peak Rx delay 207, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2361211012 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.4C, max 
2025-04-29 05:50:36 [debug] Driver 0: pos -9593, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18366, writes 0 timeouts 0
2025-04-29 05:50:36 [debug] Last sensors broadcast 0x00000000 found 0 249 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 92, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 35661/37126
2025-04-29 05:50:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10340, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4707, no error
Lin: Encoder reverse polarity: no, raw count 2266
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:50:36 [info] currentZPosition:0.00378
2025-04-29 05:50:37 [debug] Stopped at height 0.003 mm
2025-04-29 05:50:37 [debug] Diagnostics for board 50:
2025-04-29 05:50:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:50:37 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.9%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:38:29 ago, cause: software
2025-04-29 05:50:37 [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
2025-04-29 05:50:37 [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
2025-04-29 05:50:37 [debug] Moves scheduled 25337, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=592, frequency (Hz): min=1518, max=15625
Sync err accum 78, peak jitter -1/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2360178118 ticks, 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
2025-04-29 05:50:37 [debug] Driver 0: pos -9596, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15764, writes 0 timeouts 0
2025-04-29 05:50:37 [debug] Last sensors broadcast 0x00000000 found 0 127 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 93, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36272/37095
2025-04-29 05:50:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10332, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:50:37 [info] currentZPosition:0.00348
2025-04-29 05:50:39 [debug] Stopped at height 0.004 mm
2025-04-29 05:50:39 [debug] Diagnostics for board 50:
2025-04-29 05:50:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:50:39 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:38:30 ago, cause: software
2025-04-29 05:50:39 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 05:50:39 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 05:50:39 [debug] Moves scheduled 25341, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 325, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=644, frequency (Hz): min=1373, max=15306
Sync err accum 72, peak jitter -2/0, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2359010983 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.4C, max
2025-04-29 05:50:39 [debug] Driver 0: pos -9589, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18166, writes 0 timeouts 0
2025-04-29 05:50:39 [debug] Last sensors broadcast 0x00000000 found 0 183 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 86, 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 371, adv 36327/37127
2025-04-29 05:50:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10294, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:50:39 [info] currentZPosition:0.00427
2025-04-29 05:50:40 [debug] Stopped at height 0.005 mm
2025-04-29 05:50:40 [debug] Diagnostics for board 50:
2025-04-29 05:50:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:50:40 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.1%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:38:32 ago, cause: software
2025-04-29 05:50:40 [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
2025-04-29 05:50:40 [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
2025-04-29 05:50:40 [debug] Moves scheduled 25345, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=528, frequency (Hz): min=1186, max=15306
Sync err accum 60, peak jitter -3/-1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2357996637 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.4C, ma
2025-04-29 05:50:40 [debug] Driver 0: pos -9585, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15682, writes 0 timeouts 0
2025-04-29 05:50:40 [debug] Last sensors broadcast 0x00000000 found 0 34 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 86, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 36212/37125
2025-04-29 05:50:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10295, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2266
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:50:40 [info] currentZPosition:0.00467
2025-04-29 05:50:42 [debug] Stopped at height 0.004 mm
2025-04-29 05:50:42 [debug] Diagnostics for board 50:
2025-04-29 05:50:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:50:42 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:38:33 ago, cause: software
2025-04-29 05:50:42 [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
2025-04-29 05:50:42 [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
2025-04-29 05:50:42 [debug] Moves scheduled 25349, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=849, frequency (Hz): min=1127, max=15306
Sync err accum 70, peak jitter -1/3, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 2356807949 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:50:42 [debug] Driver 0: pos -9590, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18711, writes 0 timeouts 0
2025-04-29 05:50:42 [debug] Last sensors broadcast 0x00000000 found 0 118 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 86, 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 375, adv 36173/37154
2025-04-29 05:50:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2269
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10322, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4709, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:50:42 [info] currentZPosition:0.00417
2025-04-29 05:50:43 [debug] Stopped at height 0.003 mm
2025-04-29 05:50:43 [debug] Diagnostics for board 50:
2025-04-29 05:50:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:50:43 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:38:34 ago, cause: software
2025-04-29 05:50:43 [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
2025-04-29 05:50:43 [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
2025-04-29 05:50:43 [debug] Moves scheduled 25353, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=629, frequency (Hz): min=1368, max=15306
Sync err accum 83, peak jitter 1/3, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 2355776415 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:50:43 [debug] Driver 0: pos -9598, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16089, writes 0 timeouts 0
2025-04-29 05:50:43 [debug] Last sensors broadcast 0x00000000 found 0 248 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 92, send timeouts 0, received 22, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 36133/37156
2025-04-29 05:50:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2269
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10339, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:50:43 [info] currentZPosition:0.00338
2025-04-29 05:50:45 [debug] Stopped at height 0.004 mm
2025-04-29 05:50:45 [debug] Diagnostics for board 50:
2025-04-29 05:50:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:50:45 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:38:36 ago, cause: software
2025-04-29 05:50:45 [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
2025-04-29 05:50:45 [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
2025-04-29 05:50:45 [debug] Moves scheduled 25357, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=705, frequency (Hz): min=1273, max=15625
Sync err accum 88, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2354603218 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.4C, max 
2025-04-29 05:50:45 [debug] Driver 0: pos -9594, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18331, writes 0 timeouts 0
2025-04-29 05:50:45 [debug] Last sensors broadcast 0x00000000 found 0 60 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 94, 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 386, adv 36056/37078
2025-04-29 05:50:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10315, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4707, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:50:45 [info] currentZPosition:0.00378
2025-04-29 05:50:46 [debug] Stopped at height 0.004 mm
2025-04-29 05:50:46 [debug] Diagnostics for board 50:
2025-04-29 05:50:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:50:46 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.9%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:38:37 ago, cause: software
2025-04-29 05:50:46 [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
2025-04-29 05:50:46 [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
2025-04-29 05:50:46 [debug] Moves scheduled 25361, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 348, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=829, frequency (Hz): min=1017, max=15306
Sync err accum 88, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 2353581963 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:50:46 [debug] Driver 0: pos -9595, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15780, writes 0 timeouts 0
2025-04-29 05:50:46 [debug] Last sensors broadcast 0x00000000 found 0 171 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 92, 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 376, adv 35599/37125
2025-04-29 05:50:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10352, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2267
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:50:46 [info] currentZPosition:0.00368
2025-04-29 05:50:48 [debug] Stopped at height 0.004 mm
2025-04-29 05:50:48 [debug] Diagnostics for board 50:
2025-04-29 05:50:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:50:48 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:38:39 ago, cause: software
2025-04-29 05:50:48 [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
2025-04-29 05:50:48 [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
2025-04-29 05:50:48 [debug] Moves scheduled 25365, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=569, frequency (Hz): min=1386, max=15306
Sync err accum 86, peak jitter -1/1, peak Rx delay 185, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2352400502 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.4C, max
2025-04-29 05:50:48 [debug] Driver 0: pos -9595, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18502, writes 0 timeouts 0
2025-04-29 05:50:48 [debug] Last sensors broadcast 0x00000000 found 0 249 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 91, 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 369, adv 35997/37094
2025-04-29 05:50:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10328, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:50:48 [info] currentZPosition:0.00368
2025-04-29 05:50:49 [debug] Stopped at height 0.004 mm
2025-04-29 05:50:49 [debug] Diagnostics for board 50:
2025-04-29 05:50:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:50:49 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.3%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:38:40 ago, cause: software
2025-04-29 05:50:49 [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
2025-04-29 05:50:49 [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
2025-04-29 05:50:49 [debug] Moves scheduled 25369, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 240, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=684, frequency (Hz): min=1098, max=15625
Sync err accum 78, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2351374863 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.4C, max
2025-04-29 05:50:49 [debug] Driver 0: pos -9595, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15769, writes 0 timeouts 0
2025-04-29 05:50:49 [debug] Last sensors broadcast 0x00000000 found 0 113 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 94, 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 372, adv 35758/37124
2025-04-29 05:50:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10376, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2268
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:50:49 [info] currentZPosition:0.00368
2025-04-29 05:50:51 [debug] Stopped at height 0.004 mm
2025-04-29 05:50:51 [debug] Diagnostics for board 50:
2025-04-29 05:50:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:50:51 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:38:42 ago, cause: software
2025-04-29 05:50:51 [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
2025-04-29 05:50:51 [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
2025-04-29 05:50:51 [debug] Moves scheduled 25373, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=658, frequency (Hz): min=1043, max=15306
Sync err accum 62, peak jitter -3/-1, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2350193055 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.4C, ma
2025-04-29 05:50:51 [debug] Driver 0: pos -9596, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18436, writes 0 timeouts 0
2025-04-29 05:50:51 [debug] Last sensors broadcast 0x00000000 found 0 192 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 95, 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 349, adv 35870/37122
2025-04-29 05:50:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10351, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2268
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:50:51 [info] currentZPosition:0.00358
2025-04-29 05:50:52 [debug] Stopped at height 0.003 mm
2025-04-29 05:50:52 [debug] Diagnostics for board 50:
2025-04-29 05:50:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:50:52 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:38:43 ago, cause: software
2025-04-29 05:50:52 [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
2025-04-29 05:50:52 [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
2025-04-29 05:50:52 [debug] Moves scheduled 25377, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=626, frequency (Hz): min=1264, max=15306
Sync err accum 71, peak jitter 0/3, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2349163718 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.4C, max 
2025-04-29 05:50:52 [debug] Driver 0: pos -9598, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15888, writes 0 timeouts 0
2025-04-29 05:50:52 [debug] Last sensors broadcast 0x00000000 found 0 64 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 94, 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 417, adv 35852/37163
2025-04-29 05:50:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10372, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4710, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:50:52 [info] currentZPosition:0.00338
2025-04-29 05:50:54 [debug] Stopped at height 0.004 mm
2025-04-29 05:50:54 [debug] Diagnostics for board 50:
2025-04-29 05:50:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:50:54 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:38:45 ago, cause: software
2025-04-29 05:50:54 [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
2025-04-29 05:50:54 [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
2025-04-29 05:50:54 [debug] Moves scheduled 25381, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=670, frequency (Hz): min=1164, max=15306
Sync err accum 81, peak jitter 1/2, peak Rx delay 192, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2347998398 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.4C, max 
2025-04-29 05:50:54 [debug] Driver 0: pos -9590, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18294, writes 0 timeouts 0
2025-04-29 05:50:54 [debug] Last sensors broadcast 0x00000000 found 0 115 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 89, 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 376, adv 35738/37116
2025-04-29 05:50:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2268
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10292, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:50:54 [info] currentZPosition:0.00417
2025-04-29 05:50:55 [debug] Stopped at height 0.003 mm
2025-04-29 05:50:55 [debug] Diagnostics for board 50:
2025-04-29 05:50:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:50:55 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.9%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:38:46 ago, cause: software
2025-04-29 05:50:55 [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
2025-04-29 05:50:55 [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
2025-04-29 05:50:55 [debug] Moves scheduled 25385, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=822, frequency (Hz): min=1117, max=15306
Sync err accum 88, peak jitter 1/1, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2346950481 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.4C, max 
2025-04-29 05:50:55 [debug] Driver 0: pos -9605, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16178, writes 0 timeouts 0
2025-04-29 05:50:55 [debug] Last sensors broadcast 0x00000000 found 0 15 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 103, 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 383, adv 36066/37102
2025-04-29 05:50:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10399, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:50:55 [info] currentZPosition:0.00268
2025-04-29 05:50:55 [debug] Stopped at height 0.002 mm
2025-04-29 05:50:57 [debug] Stopped at height 0.004 mm
2025-04-29 05:50:57 [debug] Diagnostics for board 50:
2025-04-29 05:50:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:50:57 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.2%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:38:48 ago, cause: software
2025-04-29 05:50:57 [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
2025-04-29 05:50:57 [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
2025-04-29 05:50:57 [debug] Moves scheduled 25391, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=529, frequency (Hz): min=729, max=15306
Sync err accum 86, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2345550053 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.4C, max 
2025-04-29 05:50:57 [debug] Driver 0: pos -9592, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 21895, writes 11 timeouts 1
2025-04-29 05:50:57 [debug] Last sensors broadcast 0x00000000 found 0 132 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 109, 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 399, adv 35605/37119
2025-04-29 05:50:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2268
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10334, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:50:57 [info] currentZPosition:0.00398
2025-04-29 05:50:57 [debug] Stopped at height 0.003 mm
2025-04-29 05:50:58 [debug] Stopped at height 0.004 mm
2025-04-29 05:50:58 [debug] Diagnostics for board 50:
2025-04-29 05:50:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:50:58 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.2%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:38:50 ago, cause: software
2025-04-29 05:50:58 [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
2025-04-29 05:50:58 [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
2025-04-29 05:50:58 [debug] Moves scheduled 25397, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 442, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=517, frequency (Hz): min=1341, max=15625
Sync err accum 82, peak jitter -1/0, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2344302406 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.4C, max
2025-04-29 05:50:58 [debug] Driver 0: pos -9590, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 19490, writes 0 timeouts 0
2025-04-29 05:50:58 [debug] Last sensors broadcast 0x00000000 found 0 45 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 104, 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 388, adv 36253/37114
2025-04-29 05:50:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10328, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2268
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:50:59 [info] currentZPosition:0.00417
2025-04-29 05:50:59 [debug] Stopped at height 0.003 mm
2025-04-29 05:51:00 [debug] Stopped at height 0.004 mm
2025-04-29 05:51:00 [debug] Diagnostics for board 50:
2025-04-29 05:51:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:51:00 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.7%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:38:52 ago, cause: software
2025-04-29 05:51:00 [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
2025-04-29 05:51:00 [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
2025-04-29 05:51:00 [debug] Moves scheduled 25403, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 259, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=477, frequency (Hz): min=1633, max=15625
Sync err accum 68, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2342882765 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.4C, max
2025-04-29 05:51:00 [debug] Driver 0: pos -9594, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 22294, writes 0 timeouts 0
2025-04-29 05:51:00 [debug] Last sensors broadcast 0x00000000 found 0 186 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 107, 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 399, adv 36308/37081
2025-04-29 05:51:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10331, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:51:00 [info] currentZPosition:0.00378
2025-04-29 05:51:02 [debug] Stopped at height 0.004 mm
2025-04-29 05:51:02 [debug] Diagnostics for board 50:
2025-04-29 05:51:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:51:02 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:38:53 ago, cause: software
2025-04-29 05:51:02 [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
2025-04-29 05:51:02 [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
2025-04-29 05:51:02 [debug] Moves scheduled 25407, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=573, frequency (Hz): min=1527, max=27777
Sync err accum 61, peak jitter -3/2, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2341864751 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.4C, max
2025-04-29 05:51:02 [debug] Driver 0: pos -9593, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15748, writes 0 timeouts 0
2025-04-29 05:51:02 [debug] Last sensors broadcast 0x00000000 found 0 46 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 88, 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 378, adv 35712/37128
2025-04-29 05:51:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10326, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:51:02 [info] currentZPosition:0.00388
2025-04-29 05:51:03 [debug] Stopped at height 0.004 mm
2025-04-29 05:51:03 [debug] Diagnostics for board 50:
2025-04-29 05:51:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:51:03 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:38:55 ago, cause: software
2025-04-29 05:51:03 [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
2025-04-29 05:51:03 [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
2025-04-29 05:51:03 [debug] Moves scheduled 25411, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=540, frequency (Hz): min=1569, max=15625
Sync err accum 74, peak jitter 1/3, peak Rx delay 193, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 2340684845 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:51:03 [debug] Driver 0: pos -9593, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18425, writes 0 timeouts 0
2025-04-29 05:51:03 [debug] Last sensors broadcast 0x00000000 found 0 116 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 92, 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 389, adv 36185/37126
2025-04-29 05:51:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2269
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10317, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:51:03 [info] currentZPosition:0.00388
2025-04-29 05:51:05 [debug] Stopped at height 0.004 mm
2025-04-29 05:51:05 [debug] Diagnostics for board 50:
2025-04-29 05:51:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:51:05 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.9%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:38:56 ago, cause: software
2025-04-29 05:51:05 [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
2025-04-29 05:51:05 [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
2025-04-29 05:51:05 [debug] Moves scheduled 25415, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 229, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=634, frequency (Hz): min=1215, max=15306
Sync err accum 82, peak jitter 0/2, peak Rx delay 195, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2339669180 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.4C, max 
2025-04-29 05:51:05 [debug] Driver 0: pos -9591, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15721, writes 0 timeouts 0
2025-04-29 05:51:05 [debug] Last sensors broadcast 0x00000000 found 0 220 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 86, 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 369, adv 35920/37120
2025-04-29 05:51:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2269
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10337, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4708, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:51:05 [info] currentZPosition:0.00408
2025-04-29 05:51:06 [debug] Stopped at height 0.005 mm
2025-04-29 05:51:06 [debug] Diagnostics for board 50:
2025-04-29 05:51:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:51:06 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:38:58 ago, cause: software
2025-04-29 05:51:06 [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
2025-04-29 05:51:06 [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
2025-04-29 05:51:06 [debug] Moves scheduled 25419, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=898, frequency (Hz): min=965, max=15306
Sync err accum 81, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2338508780 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.4C, max 
2025-04-29 05:51:06 [debug] Driver 0: pos -9585, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18281, writes 0 timeouts 0
2025-04-29 05:51:06 [debug] Last sensors broadcast 0x00000000 found 0 22 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 88, send timeouts 0, received 22, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36096/37122
2025-04-29 05:51:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10294, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2264
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:51:06 [info] currentZPosition:0.00467
2025-04-29 05:51:08 [debug] Stopped at height 0.004 mm
2025-04-29 05:51:08 [debug] Diagnostics for board 50:
2025-04-29 05:51:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:51:08 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:38:59 ago, cause: software
2025-04-29 05:51:08 [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
2025-04-29 05:51:08 [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
2025-04-29 05:51:08 [debug] Moves scheduled 25423, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=498, frequency (Hz): min=1662, max=15306
Sync err accum 79, peak jitter -1/0, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 2337482153 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:51:08 [debug] Driver 0: pos -9590, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15929, writes 0 timeouts 0
2025-04-29 05:51:08 [debug] Last sensors broadcast 0x00000000 found 0 136 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 86, 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 375, adv 36072/37121
2025-04-29 05:51:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2268
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10302, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:51:08 [info] currentZPosition:0.00417
2025-04-29 05:51:09 [debug] Stopped at height 0.004 mm
2025-04-29 05:51:09 [debug] Diagnostics for board 50:
2025-04-29 05:51:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:51:09 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:39:00 ago, cause: software
2025-04-29 05:51:09 [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
2025-04-29 05:51:09 [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
2025-04-29 05:51:09 [debug] Moves scheduled 25427, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=532, frequency (Hz): min=1708, max=15625
Sync err accum 71, peak jitter -2/0, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 2336301080 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:51:09 [debug] Driver 0: pos -9592, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18509, writes 0 timeouts 0
2025-04-29 05:51:09 [debug] Last sensors broadcast 0x00000000 found 0 212 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 89, 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 532, adv 36026/37082
2025-04-29 05:51:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10351, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:51:09 [info] currentZPosition:0.00398
2025-04-29 05:51:11 [debug] Stopped at height 0.004 mm
2025-04-29 05:51:11 [debug] Diagnostics for board 50:
2025-04-29 05:51:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:51:11 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:39:02 ago, cause: software
2025-04-29 05:51:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 05:51:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 05:51:11 [debug] Moves scheduled 25431, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 363, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=568, frequency (Hz): min=1500, max=15625
Sync err accum 60, peak jitter -3/-1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2335274681 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.1C, ma
2025-04-29 05:51:11 [debug] Driver 0: pos -9594, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15966, writes 0 timeouts 0
2025-04-29 05:51:11 [debug] Last sensors broadcast 0x00000000 found 0 80 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 94, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36201/37098
2025-04-29 05:51:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10339, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2267
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:51:11 [info] currentZPosition:0.00388
2025-04-29 05:51:12 [debug] Stopped at height 0.004 mm
2025-04-29 05:51:12 [debug] Diagnostics for board 50:
2025-04-29 05:51:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:51:12 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:39:03 ago, cause: software
2025-04-29 05:51:12 [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
2025-04-29 05:51:12 [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
2025-04-29 05:51:12 [debug] Moves scheduled 25435, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=636, frequency (Hz): min=1250, max=15306
Sync err accum 73, peak jitter -1/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 2334097863 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:51:12 [debug] Driver 0: pos -9594, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18430, writes 0 timeouts 0
2025-04-29 05:51:12 [debug] Last sensors broadcast 0x00000000 found 0 149 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 91, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 35906/37095
2025-04-29 05:51:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10320, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:51:12 [info] currentZPosition:0.00388
2025-04-29 05:51:13 [debug] Stopped at height 0.004 mm
2025-04-29 05:51:13 [debug] Diagnostics for board 50:
2025-04-29 05:51:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:51:13 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.7%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:39:05 ago, cause: software
2025-04-29 05:51:13 [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
2025-04-29 05:51:13 [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
2025-04-29 05:51:13 [debug] Moves scheduled 25439, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=681, frequency (Hz): min=486, max=15625
Sync err accum 85, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2333068470 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.4C, max 3
2025-04-29 05:51:13 [debug] Driver 0: pos -9596, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15936, writes 11 timeouts 1
2025-04-29 05:51:13 [debug] Last sensors broadcast 0x00000000 found 0 24 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 93, 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 677, adv 35668/37105
2025-04-29 05:51:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10337, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:51:14 [info] currentZPosition:0.00368
2025-04-29 05:51:15 [debug] Stopped at height 0.004 mm
2025-04-29 05:51:15 [debug] Diagnostics for board 50:
2025-04-29 05:51:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:51:15 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:39:06 ago, cause: software
2025-04-29 05:51:15 [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
2025-04-29 05:51:15 [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
2025-04-29 05:51:15 [debug] Moves scheduled 25443, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=646, frequency (Hz): min=600, max=15306
Sync err accum 95, peak jitter 0/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2331887994 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-29 05:51:15 [debug] Driver 0: pos -9595, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18384, writes 11 timeouts 1
2025-04-29 05:51:15 [debug] Last sensors broadcast 0x00000000 found 0 96 ticks ago, 0 ordering errs, loop time 2
CAN messages queued 91, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 35802/37120
2025-04-29 05:51:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10333, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:51:15 [info] currentZPosition:0.00378
2025-04-29 05:51:16 [debug] Stopped at height 0.005 mm
2025-04-29 05:51:16 [debug] Diagnostics for board 50:
2025-04-29 05:51:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:51:16 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.0%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:39:08 ago, cause: software
2025-04-29 05:51:16 [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
2025-04-29 05:51:16 [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
2025-04-29 05:51:16 [debug] Moves scheduled 25447, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=585, frequency (Hz): min=1290, max=15306
Sync err accum 101, peak jitter 0/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 2330885245 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:51:16 [debug] Driver 0: pos -9587, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15531, writes 0 timeouts 0
2025-04-29 05:51:16 [debug] Last sensors broadcast 0x00000000 found 0 183 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 85, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 35849/37115
2025-04-29 05:51:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2267
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10303, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:51:16 [info] currentZPosition:0.00457
2025-04-29 05:51:18 [debug] Stopped at height 0.004 mm
2025-04-29 05:51:18 [debug] Diagnostics for board 50:
2025-04-29 05:51:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:51:18 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:39:09 ago, cause: software
2025-04-29 05:51:18 [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
2025-04-29 05:51:18 [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
2025-04-29 05:51:18 [debug] Moves scheduled 25451, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=517, frequency (Hz): min=1524, max=15306
Sync err accum 104, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2329702108 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.4C, max
2025-04-29 05:51:18 [debug] Driver 0: pos -9591, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18529, writes 0 timeouts 0
2025-04-29 05:51:18 [debug] Last sensors broadcast 0x00000000 found 0 12 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 90, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 35705/37092
2025-04-29 05:51:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10338, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2268
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:51:18 [info] currentZPosition:0.00417
2025-04-29 05:51:19 [debug] Stopped at height 0.004 mm
2025-04-29 05:51:19 [debug] Diagnostics for board 50:
2025-04-29 05:51:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:51:19 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.7%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:39:11 ago, cause: software
2025-04-29 05:51:19 [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
2025-04-29 05:51:19 [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
2025-04-29 05:51:19 [debug] Moves scheduled 25455, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=505, frequency (Hz): min=1344, max=15306
Sync err accum 100, peak jitter -2/0, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2328671883 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.4C, ma
2025-04-29 05:51:19 [debug] Driver 0: pos -9594, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15952, writes 0 timeouts 0
2025-04-29 05:51:19 [debug] Last sensors broadcast 0x00000000 found 0 133 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 88, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 35986/37110
2025-04-29 05:51:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2267
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10321, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:51:19 [info] currentZPosition:0.00388
2025-04-29 05:51:21 [debug] Stopped at height 0.004 mm
2025-04-29 05:51:21 [debug] Diagnostics for board 50:
2025-04-29 05:51:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:51:21 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:39:12 ago, cause: software
2025-04-29 05:51:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 05:51:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 05:51:21 [debug] Moves scheduled 25459, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=637, frequency (Hz): min=1453, max=15306
Sync err accum 89, peak jitter -2/-1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 2327509887 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 05:51:21 [debug] Driver 0: pos -9588, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18242, writes 0 timeouts 0
2025-04-29 05:51:21 [debug] Last sensors broadcast 0x00000000 found 0 184 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 86, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36315/37137
2025-04-29 05:51:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2268
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10300, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:51:21 [info] currentZPosition:0.00447
2025-04-29 05:51:22 [debug] Stopped at height 0.003 mm
2025-04-29 05:51:22 [debug] Diagnostics for board 50:
2025-04-29 05:51:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:51:22 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:39:14 ago, cause: software
2025-04-29 05:51:22 [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
2025-04-29 05:51:22 [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
2025-04-29 05:51:22 [debug] Moves scheduled 25463, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 481, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=665, frequency (Hz): min=691, max=15957
Sync err accum 75, peak jitter -3/-1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2326457402 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.4C, max
2025-04-29 05:51:22 [debug] Driver 0: pos -9600, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16247, writes 11 timeouts 1
2025-04-29 05:51:22 [debug] Last sensors broadcast 0x00000000 found 0 87 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 95, 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 397, adv 36216/37140
2025-04-29 05:51:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10360, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:51:22 [info] currentZPosition:0.00328
2025-04-29 05:51:24 [debug] Stopped at height 0.004 mm
2025-04-29 05:51:24 [debug] Diagnostics for board 50:
2025-04-29 05:51:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:51:24 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:39:15 ago, cause: software
2025-04-29 05:51:24 [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
2025-04-29 05:51:24 [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
2025-04-29 05:51:24 [debug] Moves scheduled 25467, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=753, frequency (Hz): min=1079, max=15306
Sync err accum 56, peak jitter -3/-2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2325296080 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.4C, ma
2025-04-29 05:51:24 [debug] Driver 0: pos -9591, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18071, writes 0 timeouts 0
2025-04-29 05:51:24 [debug] Last sensors broadcast 0x00000000 found 0 135 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 88, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36207/37154
2025-04-29 05:51:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2269
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10313, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:51:24 [info] currentZPosition:0.00417
2025-04-29 05:51:25 [debug] Stopped at height 0.003 mm
2025-04-29 05:51:25 [debug] Diagnostics for board 50:
2025-04-29 05:51:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:51:25 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:39:17 ago, cause: software
2025-04-29 05:51:25 [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
2025-04-29 05:51:25 [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
2025-04-29 05:51:25 [debug] Moves scheduled 25471, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=656, frequency (Hz): min=1348, max=15306
Sync err accum 69, peak jitter -2/3, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2324258532 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.4C, max
2025-04-29 05:51:25 [debug] Driver 0: pos -9599, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16099, writes 0 timeouts 0
2025-04-29 05:51:25 [debug] Last sensors broadcast 0x00000000 found 0 21 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 96, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 35640/37141
2025-04-29 05:51:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10342, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:51:25 [info] currentZPosition:0.00338
2025-04-29 05:51:27 [debug] Stopped at height 0.004 mm
2025-04-29 05:51:27 [debug] Diagnostics for board 50:
2025-04-29 05:51:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:51:27 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:39:18 ago, cause: software
2025-04-29 05:51:27 [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
2025-04-29 05:51:27 [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
2025-04-29 05:51:27 [debug] Moves scheduled 25475, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 166, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=478, frequency (Hz): min=1467, max=15306
Sync err accum 86, peak jitter 1/3, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2323094834 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.4C, max 
2025-04-29 05:51:27 [debug] Driver 0: pos -9591, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18166, writes 0 timeouts 0
2025-04-29 05:51:27 [debug] Last sensors broadcast 0x00000000 found 0 71 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 88, 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 409, adv 36107/37087
2025-04-29 05:51:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10352, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:51:27 [info] currentZPosition:0.00417
2025-04-29 05:51:28 [debug] Stopped at height 0.003 mm
2025-04-29 05:51:28 [debug] Diagnostics for board 50:
2025-04-29 05:51:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:51:28 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:39:19 ago, cause: software
2025-04-29 05:51:28 [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
2025-04-29 05:51:28 [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
2025-04-29 05:51:28 [debug] Moves scheduled 25479, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=592, frequency (Hz): min=1488, max=27777
Sync err accum 99, peak jitter 0/3, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2322058330 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.4C, max 
2025-04-29 05:51:28 [debug] Driver 0: pos -9599, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16042, writes 0 timeouts 0
2025-04-29 05:51:28 [debug] Last sensors broadcast 0x00000000 found 0 203 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 93, 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 377, adv 35818/37102
2025-04-29 05:51:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10376, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2268
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:51:28 [info] currentZPosition:0.00338
2025-04-29 05:51:30 [debug] Stopped at height 0.002 mm
2025-04-29 05:51:30 [debug] Diagnostics for board 50:
2025-04-29 05:51:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:51:30 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:39:21 ago, cause: software
2025-04-29 05:51:30 [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
2025-04-29 05:51:30 [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
2025-04-29 05:51:30 [debug] Moves scheduled 25483, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=600, frequency (Hz): min=1124, max=15306
Sync err accum 108, peak jitter 1/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2320858714 ticks, 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
2025-04-29 05:51:30 [debug] Driver 0: pos -9608, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18626, writes 0 timeouts 0
2025-04-29 05:51:30 [debug] Last sensors broadcast 0x00000000 found 0 54 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 110, 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 347, adv 36047/37117
2025-04-29 05:51:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10401, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:51:30 [info] currentZPosition:0.00249
2025-04-29 05:51:31 [debug] Stopped at height 0.004 mm
2025-04-29 05:51:31 [debug] Diagnostics for board 50:
2025-04-29 05:51:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:51:31 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.7%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:39:22 ago, cause: software
2025-04-29 05:51:31 [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
2025-04-29 05:51:31 [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
2025-04-29 05:51:31 [debug] Moves scheduled 25487, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=617, frequency (Hz): min=1488, max=15306
Sync err accum 107, peak jitter -1/1, peak Rx delay 185, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2319858104 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.4C, ma
2025-04-29 05:51:31 [debug] Driver 0: pos -9595, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15374, writes 0 timeouts 0
2025-04-29 05:51:31 [debug] Last sensors broadcast 0x00000000 found 0 137 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 89, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 35940/37120
2025-04-29 05:51:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10329, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:51:31 [info] currentZPosition:0.00378
2025-04-29 05:51:32 [debug] Stopped at height 0.002 mm
2025-04-29 05:51:33 [debug] Stopped at height 0.004 mm
2025-04-29 05:51:33 [debug] Diagnostics for board 50:
2025-04-29 05:51:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:51:33 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:39:24 ago, cause: software
2025-04-29 05:51:33 [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
2025-04-29 05:51:33 [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
2025-04-29 05:51:33 [debug] Moves scheduled 25493, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=584, frequency (Hz): min=538, max=15306
Sync err accum 100, peak jitter -1/0, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2318452523 ticks, 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
2025-04-29 05:51:33 [debug] Driver 0: pos -9591, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 22077, writes 11 timeouts 1
2025-04-29 05:51:33 [debug] Last sensors broadcast 0x00000000 found 0 12 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 105, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 35899/37112
2025-04-29 05:51:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10323, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:51:33 [info] currentZPosition:0.00417
2025-04-29 05:51:33 [debug] Stopped at height 0.003 mm
2025-04-29 05:51:35 [debug] Stopped at height 0.004 mm
2025-04-29 05:51:35 [debug] Diagnostics for board 50:
2025-04-29 05:51:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:51:35 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.2%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:39:26 ago, cause: software
2025-04-29 05:51:35 [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
2025-04-29 05:51:35 [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
2025-04-29 05:51:35 [debug] Moves scheduled 25499, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=677, frequency (Hz): min=1339, max=15306
Sync err accum 89, peak jitter -2/-1, peak Rx delay 188, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2317194724 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.4C, ma
2025-04-29 05:51:35 [debug] Driver 0: pos -9593, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 19630, writes 0 timeouts 0
2025-04-29 05:51:35 [debug] Last sensors broadcast 0x00000000 found 0 186 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 99, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36052/37157
2025-04-29 05:51:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10329, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:51:35 [info] currentZPosition:0.00398
2025-04-29 05:51:36 [debug] Stopped at height 0.004 mm
2025-04-29 05:51:36 [debug] Diagnostics for board 50:
2025-04-29 05:51:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:51:36 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:39:27 ago, cause: software
2025-04-29 05:51:36 [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
2025-04-29 05:51:36 [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
2025-04-29 05:51:36 [debug] Moves scheduled 25503, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=508, frequency (Hz): min=1353, max=15306
Sync err accum 75, peak jitter -3/-1, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2316017498 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.4C, ma
2025-04-29 05:51:36 [debug] Driver 0: pos -9593, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18436, writes 0 timeouts 0
2025-04-29 05:51:36 [debug] Last sensors broadcast 0x00000000 found 0 5 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 91, 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 390, adv 35792/37102
2025-04-29 05:51:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2267
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10321, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:51:36 [info] currentZPosition:0.00398
2025-04-29 05:51:38 [debug] Stopped at height 0.004 mm
2025-04-29 05:51:38 [debug] Diagnostics for board 50:
2025-04-29 05:51:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:51:38 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.8%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:39:29 ago, cause: software
2025-04-29 05:51:38 [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
2025-04-29 05:51:38 [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
2025-04-29 05:51:38 [debug] Moves scheduled 25507, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=505, frequency (Hz): min=1630, max=15306
Sync err accum 60, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2314993004 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.4C, ma
2025-04-29 05:51:38 [debug] Driver 0: pos -9594, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15908, writes 0 timeouts 0
2025-04-29 05:51:38 [debug] Last sensors broadcast 0x00000000 found 0 124 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 89, 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 373, adv 35656/37112
2025-04-29 05:51:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2268
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10313, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:51:38 [info] currentZPosition:0.00388
2025-04-29 05:51:39 [debug] Stopped at height 0.004 mm
2025-04-29 05:51:39 [debug] Diagnostics for board 50:
2025-04-29 05:51:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:51:39 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:39:30 ago, cause: software
2025-04-29 05:51:39 [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
2025-04-29 05:51:39 [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
2025-04-29 05:51:39 [debug] Moves scheduled 25511, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=482, frequency (Hz): min=823, max=15306
Sync err accum 70, peak jitter 1/2, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2313816234 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.4C, max 3
2025-04-29 05:51:39 [debug] Driver 0: pos -9595, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18392, writes 11 timeouts 1
2025-04-29 05:51:39 [debug] Last sensors broadcast 0x00000000 found 0 191 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 89, 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 380, adv 35698/37150
2025-04-29 05:51:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10363, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2267
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:51:39 [info] currentZPosition:0.00378
2025-04-29 05:51:41 [debug] Stopped at height 0.003 mm
2025-04-29 05:51:41 [debug] Diagnostics for board 50:
2025-04-29 05:51:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:51:41 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.2%
Owned mutexes:
Last reset 16:39:32 ago, cause: software
2025-04-29 05:51:41 [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
2025-04-29 05:51:41 [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
2025-04-29 05:51:41 [debug] Moves scheduled 25515, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 249, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=566, frequency (Hz): min=1488, max=15306
Sync err accum 75, peak jitter 0/1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 2312785066 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:51:41 [debug] Driver 0: pos -9598, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15929, writes 0 timeouts 0
2025-04-29 05:51:41 [debug] Last sensors broadcast 0x00000000 found 0 67 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 93, 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 354, adv 35990/37159
2025-04-29 05:51:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10340, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:51:41 [info] currentZPosition:0.00348
2025-04-29 05:51:42 [debug] Stopped at height 0.004 mm
2025-04-29 05:51:42 [debug] Diagnostics for board 50:
2025-04-29 05:51:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:51:42 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.8%
Owned mutexes:
Last reset 16:39:33 ago, cause: software
2025-04-29 05:51:42 [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
2025-04-29 05:51:42 [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
2025-04-29 05:51:42 [debug] Moves scheduled 25519, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=760, frequency (Hz): min=1192, max=15306
Sync err accum 73, peak jitter -1/1, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2311624802 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.4C, max
2025-04-29 05:51:42 [debug] Driver 0: pos -9591, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18072, writes 0 timeouts 0
2025-04-29 05:51:42 [debug] Last sensors broadcast 0x00000000 found 0 113 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 89, 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 447, adv 37010/37154
2025-04-29 05:51:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2267
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10345, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:51:42 [info] currentZPosition:0.00417
2025-04-29 05:51:43 [debug] Stopped at height 0.004 mm
2025-04-29 05:51:43 [debug] Diagnostics for board 50:
2025-04-29 05:51:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:51:43 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:39:35 ago, cause: software
2025-04-29 05:51:43 [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
2025-04-29 05:51:43 [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
2025-04-29 05:51:43 [debug] Moves scheduled 25523, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=497, frequency (Hz): min=1540, max=15306
Sync err accum 74, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2310602732 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.4C, max 
2025-04-29 05:51:43 [debug] Driver 0: pos -9591, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15886, writes 0 timeouts 0
2025-04-29 05:51:43 [debug] Last sensors broadcast 0x00000000 found 0 227 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 85, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 36163/37096
2025-04-29 05:51:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2269
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10314, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4710, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:51:44 [info] currentZPosition:0.00417
2025-04-29 05:51:45 [debug] Stopped at height 0.004 mm
2025-04-29 05:51:45 [debug] Diagnostics for board 50:
2025-04-29 05:51:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:51:45 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:39:36 ago, cause: software
2025-04-29 05:51:45 [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
2025-04-29 05:51:45 [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
2025-04-29 05:51:45 [debug] Moves scheduled 25527, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=601, frequency (Hz): min=1229, max=15306
Sync err accum 62, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2309435297 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 05:51:45 [debug] Driver 0: pos -9590, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18313, writes 0 timeouts 0
2025-04-29 05:51:45 [debug] Last sensors broadcast 0x00000000 found 0 37 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 88, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 366, adv 36328/37107
2025-04-29 05:51:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10327, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2268
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:51:45 [info] currentZPosition:0.00447
2025-04-29 05:51:46 [debug] Stopped at height 0.003 mm
2025-04-29 05:51:46 [debug] Diagnostics for board 50:
2025-04-29 05:51:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:51:46 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:39:38 ago, cause: software
2025-04-29 05:51:46 [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
2025-04-29 05:51:46 [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
2025-04-29 05:51:46 [debug] Moves scheduled 25531, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 332, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=486, frequency (Hz): min=1626, max=15306
Sync err accum 70, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2308384690 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.4C, max 
2025-04-29 05:51:46 [debug] Driver 0: pos -9600, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16412, writes 0 timeouts 0
2025-04-29 05:51:46 [debug] Last sensors broadcast 0x00000000 found 0 186 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 95, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 36305/37082
2025-04-29 05:51:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10347, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:51:46 [info] currentZPosition:0.00348
2025-04-29 05:51:48 [debug] Stopped at height 0.004 mm
2025-04-29 05:51:48 [debug] Diagnostics for board 50:
2025-04-29 05:51:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:51:48 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:39:39 ago, cause: software
2025-04-29 05:51:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 05:51:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 05:51:48 [debug] Moves scheduled 25535, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=748, frequency (Hz): min=1196, max=15306
Sync err accum 76, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2307210093 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.4C, max 
2025-04-29 05:51:48 [debug] Driver 0: pos -9597, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18286, writes 0 timeouts 0
2025-04-29 05:51:48 [debug] Last sensors broadcast 0x00000000 found 0 3 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 96, 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 405, adv 36164/37099
2025-04-29 05:51:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10374, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2268
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:51:48 [info] currentZPosition:0.00378
2025-04-29 05:51:49 [debug] Stopped at height 0.004 mm
2025-04-29 05:51:49 [debug] Diagnostics for board 50:
2025-04-29 05:51:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:51:49 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.2%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:39:41 ago, cause: software
2025-04-29 05:51:49 [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
2025-04-29 05:51:49 [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
2025-04-29 05:51:49 [debug] Moves scheduled 25539, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=578, frequency (Hz): min=1476, max=15306
Sync err accum 80, peak jitter 0/1, peak Rx delay 186, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2306191163 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.4C, max 
2025-04-29 05:51:49 [debug] Driver 0: pos -9593, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15719, writes 0 timeouts 0
2025-04-29 05:51:49 [debug] Last sensors broadcast 0x00000000 found 0 110 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 84, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 35755/37107
2025-04-29 05:51:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10351, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:51:49 [info] currentZPosition:0.00417
2025-04-29 05:51:51 [debug] Stopped at height 0.005 mm
2025-04-29 05:51:51 [debug] Diagnostics for board 50:
2025-04-29 05:51:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:51:51 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:39:42 ago, cause: software
2025-04-29 05:51:51 [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
2025-04-29 05:51:51 [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
2025-04-29 05:51:51 [debug] Moves scheduled 25543, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=782, frequency (Hz): min=1168, max=15306
Sync err accum 81, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2305028444 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.4C, max
2025-04-29 05:51:51 [debug] Driver 0: pos -9587, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18220, writes 0 timeouts 0
2025-04-29 05:51:51 [debug] Last sensors broadcast 0x00000000 found 0 158 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 86, 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 391, adv 36050/37105
2025-04-29 05:51:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10318, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4697, no error
Lin: Encoder reverse polarity: no, raw count 2267
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:51:51 [info] currentZPosition:0.00477
2025-04-29 05:51:52 [debug] Stopped at height 0.004 mm
2025-04-29 05:51:52 [debug] Diagnostics for board 50:
2025-04-29 05:51:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:51:52 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:39:44 ago, cause: software
2025-04-29 05:51:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 05:51:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 05:51:52 [debug] Moves scheduled 25547, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=545, frequency (Hz): min=1485, max=15306
Sync err accum 76, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2303978022 ticks, 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
2025-04-29 05:51:52 [debug] Driver 0: pos -9599, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16311, writes 0 timeouts 0
2025-04-29 05:51:52 [debug] Last sensors broadcast 0x00000000 found 0 62 ticks ago, 0 ordering errs, loop time 2
CAN messages queued 96, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 35873/37121
2025-04-29 05:51:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10325, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:51:52 [info] currentZPosition:0.00358
2025-04-29 05:51:54 [debug] Stopped at height 0.003 mm
2025-04-29 05:51:54 [debug] Diagnostics for board 50:
2025-04-29 05:51:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:51:54 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:39:45 ago, cause: software
2025-04-29 05:51:54 [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
2025-04-29 05:51:54 [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
2025-04-29 05:51:54 [debug] Moves scheduled 25551, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 304, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=566, frequency (Hz): min=1439, max=15625
Sync err accum 64, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 2302797636 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 05:51:54 [debug] Driver 0: pos -9600, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18375, writes 0 timeouts 0
2025-04-29 05:51:54 [debug] Last sensors broadcast 0x00000000 found 0 133 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 92, 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 369, adv 35997/37139
2025-04-29 05:51:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10375, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:51:54 [info] currentZPosition:0.00348
2025-04-29 05:51:55 [debug] Stopped at height 0.004 mm
2025-04-29 05:51:55 [debug] Diagnostics for board 50:
2025-04-29 05:51:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:51:55 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:39:46 ago, cause: software
2025-04-29 05:51:55 [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
2025-04-29 05:51:55 [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
2025-04-29 05:51:55 [debug] Moves scheduled 25555, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=618, frequency (Hz): min=1415, max=15306
Sync err accum 66, peak jitter -2/2, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 2301782888 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:51:55 [debug] Driver 0: pos -9592, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15582, writes 0 timeouts 0
2025-04-29 05:51:55 [debug] Last sensors broadcast 0x00000000 found 0 237 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 88, 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 396, adv 36010/37163
2025-04-29 05:51:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10348, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2267
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:51:55 [info] currentZPosition:0.00427
2025-04-29 05:51:57 [debug] Stopped at height 0.003 mm
2025-04-29 05:51:57 [debug] Diagnostics for board 50:
2025-04-29 05:51:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:51:57 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:39:48 ago, cause: software
2025-04-29 05:51:57 [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
2025-04-29 05:51:57 [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
2025-04-29 05:51:57 [debug] Moves scheduled 25559, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=549, frequency (Hz): min=1423, max=15306
Sync err accum 76, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2300575601 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.4C, max 
2025-04-29 05:51:57 [debug] Driver 0: pos -9609, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18850, writes 0 timeouts 0
2025-04-29 05:51:57 [debug] Last sensors broadcast 0x00000000 found 0 100 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 106, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 35943/37149
2025-04-29 05:51:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10401, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:51:57 [info] currentZPosition:0.00258
2025-04-29 05:51:57 [debug] Stopped at height 0.002 mm
2025-04-29 05:51:58 [debug] Stopped at height 0.004 mm
2025-04-29 05:51:58 [debug] Diagnostics for board 50:
2025-04-29 05:51:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:51:58 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:39:50 ago, cause: software
2025-04-29 05:51:58 [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
2025-04-29 05:51:58 [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
2025-04-29 05:51:58 [debug] Moves scheduled 25565, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=598, frequency (Hz): min=639, max=15625
Sync err accum 80, peak jitter 0/1, peak Rx delay 184, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2299346324 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.4C, max 3
2025-04-29 05:51:58 [debug] Driver 0: pos -9592, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 19154, writes 11 timeouts 1
2025-04-29 05:51:58 [debug] Last sensors broadcast 0x00000000 found 0 234 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 95, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36186/37117
2025-04-29 05:51:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10324, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:51:59 [info] currentZPosition:0.00427
2025-04-29 05:51:59 [debug] Stopped at height 0.003 mm
2025-04-29 05:52:00 [debug] Stopped at height 0.004 mm
2025-04-29 05:52:00 [debug] Diagnostics for board 50:
2025-04-29 05:52:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:52:00 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:39:52 ago, cause: software
2025-04-29 05:52:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 05:52:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 05:52:00 [debug] Moves scheduled 25571, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=610, frequency (Hz): min=1524, max=15306
Sync err accum 78, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2297932865 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max
2025-04-29 05:52:00 [debug] Driver 0: pos -9595, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 22214, writes 0 timeouts 0
2025-04-29 05:52:00 [debug] Last sensors broadcast 0x00000000 found 0 121 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 107, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 35763/37084
2025-04-29 05:52:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2269
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10364, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:52:00 [info] currentZPosition:0.00398
2025-04-29 05:52:02 [debug] Stopped at height 0.004 mm
2025-04-29 05:52:02 [debug] Diagnostics for board 50:
2025-04-29 05:52:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:52:02 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.1%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:39:53 ago, cause: software
2025-04-29 05:52:02 [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
2025-04-29 05:52:02 [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
2025-04-29 05:52:02 [debug] Moves scheduled 25575, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=710, frequency (Hz): min=1262, max=15306
Sync err accum 70, peak jitter -2/-1, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2296902893 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatu
2025-04-29 05:52:02 [debug] Driver 0: pos -9598, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15954, writes 0 timeouts 0
2025-04-29 05:52:02 [debug] Last sensors broadcast 0x00000000 found 0 245 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 85, 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 564, adv 36335/37129
2025-04-29 05:52:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10370, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:52:02 [info] currentZPosition:0.00368
2025-04-29 05:52:03 [debug] Stopped at height 0.004 mm
2025-04-29 05:52:03 [debug] Diagnostics for board 50:
2025-04-29 05:52:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:52:03 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:39:55 ago, cause: software
2025-04-29 05:52:03 [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
2025-04-29 05:52:03 [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
2025-04-29 05:52:03 [debug] Moves scheduled 25579, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=921, frequency (Hz): min=1010, max=15306
Sync err accum 62, peak jitter -3/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 2295734604 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:52:03 [debug] Driver 0: pos -9593, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18241, writes 0 timeouts 0
2025-04-29 05:52:03 [debug] Last sensors broadcast 0x00000000 found 0 51 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 94, send timeouts 0, received 22, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 35660/37131
2025-04-29 05:52:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10317, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:52:03 [info] currentZPosition:0.00417
2025-04-29 05:52:05 [debug] Stopped at height 0.004 mm
2025-04-29 05:52:05 [debug] Diagnostics for board 50:
2025-04-29 05:52:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:52:05 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:39:56 ago, cause: software
2025-04-29 05:52:05 [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
2025-04-29 05:52:05 [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
2025-04-29 05:52:05 [debug] Moves scheduled 25583, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 391, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=450, frequency (Hz): min=1527, max=15306
Sync err accum 72, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2294707049 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.4C, max 
2025-04-29 05:52:05 [debug] Driver 0: pos -9594, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15876, writes 0 timeouts 0
2025-04-29 05:52:05 [debug] Last sensors broadcast 0x00000000 found 0 172 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 87, 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 380, adv 35717/37122
2025-04-29 05:52:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2267
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10326, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:52:05 [info] currentZPosition:0.00408
2025-04-29 05:52:06 [debug] Stopped at height 0.004 mm
2025-04-29 05:52:06 [debug] Diagnostics for board 50:
2025-04-29 05:52:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:52:06 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:39:57 ago, cause: software
2025-04-29 05:52:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 05:52:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 05:52:06 [debug] Moves scheduled 25587, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=605, frequency (Hz): min=1467, max=15306
Sync err accum 80, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2293526668 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.4C, max 
2025-04-29 05:52:06 [debug] Driver 0: pos -9598, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18442, writes 0 timeouts 0
2025-04-29 05:52:06 [debug] Last sensors broadcast 0x00000000 found 0 247 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 93, 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 378, adv 36330/37110
2025-04-29 05:52:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10375, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:52:06 [info] currentZPosition:0.00368
2025-04-29 05:52:08 [debug] Stopped at height 0.004 mm
2025-04-29 05:52:08 [debug] Diagnostics for board 50:
2025-04-29 05:52:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:52:08 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:39:59 ago, cause: software
2025-04-29 05:52:08 [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
2025-04-29 05:52:08 [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
2025-04-29 05:52:08 [debug] Moves scheduled 25591, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=588, frequency (Hz): min=1086, max=15625
Sync err accum 82, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 2292510284 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:52:08 [debug] Driver 0: pos -9591, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15715, writes 0 timeouts 0
2025-04-29 05:52:08 [debug] Last sensors broadcast 0x00000000 found 0 100 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 89, 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 372, adv 35914/37126
2025-04-29 05:52:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2269
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10326, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:52:08 [info] currentZPosition:0.00437
2025-04-29 05:52:09 [debug] Stopped at height 0.004 mm
2025-04-29 05:52:09 [debug] Diagnostics for board 50:
2025-04-29 05:52:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:52:09 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:40:00 ago, cause: software
2025-04-29 05:52:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 05:52:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 05:52:09 [debug] Moves scheduled 25595, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=636, frequency (Hz): min=1409, max=15306
Sync err accum 76, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2291327936 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.4C, max
2025-04-29 05:52:09 [debug] Driver 0: pos -9596, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18513, writes 0 timeouts 0
2025-04-29 05:52:09 [debug] Last sensors broadcast 0x00000000 found 0 176 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 91, 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 380, adv 36255/37113
2025-04-29 05:52:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10348, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2268
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:52:09 [info] currentZPosition:0.00388
2025-04-29 05:52:10 [debug] Stopped at height 0.004 mm
2025-04-29 05:52:10 [debug] Diagnostics for board 50:
2025-04-29 05:52:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:52:10 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:40:02 ago, cause: software
2025-04-29 05:52:10 [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
2025-04-29 05:52:10 [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
2025-04-29 05:52:10 [debug] Moves scheduled 25599, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=649, frequency (Hz): min=1196, max=15306
Sync err accum 68, peak jitter -2/0, peak Rx delay 191, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2290306165 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.4C, max
2025-04-29 05:52:10 [debug] Driver 0: pos -9594, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15900, writes 0 timeouts 0
2025-04-29 05:52:10 [debug] Last sensors broadcast 0x00000000 found 0 40 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 86, 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 366, adv 36124/37155
2025-04-29 05:52:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2268
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10312, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:52:11 [info] currentZPosition:0.00408
2025-04-29 05:52:12 [debug] Stopped at height 0.004 mm
2025-04-29 05:52:12 [debug] Diagnostics for board 50:
2025-04-29 05:52:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:52:12 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:40:03 ago, cause: software
2025-04-29 05:52:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 05:52:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 05:52:12 [debug] Moves scheduled 25603, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=825, frequency (Hz): min=872, max=15306
Sync err accum 59, peak jitter -3/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2289122451 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:52:12 [debug] Driver 0: pos -9598, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18506, writes 11 timeouts 1
2025-04-29 05:52:12 [debug] Last sensors broadcast 0x00000000 found 0 117 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 93, 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 387, adv 36102/37131
2025-04-29 05:52:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10329, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:52:12 [info] currentZPosition:0.00368
2025-04-29 05:52:13 [debug] Stopped at height 0.004 mm
2025-04-29 05:52:13 [debug] Diagnostics for board 50:
2025-04-29 05:52:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:52:13 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.0%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.8%
Owned mutexes:
Last reset 16:40:05 ago, cause: software
2025-04-29 05:52:13 [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
2025-04-29 05:52:13 [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
2025-04-29 05:52:13 [debug] Moves scheduled 25607, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=754, frequency (Hz): min=1179, max=15625
Sync err accum 73, peak jitter 2/4, peak Rx delay 186, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 2288108646 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:52:13 [debug] Driver 0: pos -9594, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15711, writes 0 timeouts 0
2025-04-29 05:52:13 [debug] Last sensors broadcast 0x00000000 found 0 217 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 84, 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 366, adv 36193/37145
2025-04-29 05:52:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10348, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4708, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:52:14 [info] currentZPosition:0.00408
2025-04-29 05:52:15 [debug] Stopped at height 0.004 mm
2025-04-29 05:52:15 [debug] Diagnostics for board 50:
2025-04-29 05:52:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:52:15 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:40:06 ago, cause: software
2025-04-29 05:52:15 [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
2025-04-29 05:52:15 [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
2025-04-29 05:52:15 [debug] Moves scheduled 25611, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=693, frequency (Hz): min=616, max=15306
Sync err accum 87, peak jitter 0/3, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2286940880 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, curr
2025-04-29 05:52:15 [debug] Driver 0: pos -9592, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18297, writes 11 timeouts 1
2025-04-29 05:52:15 [debug] Last sensors broadcast 0x00000000 found 0 28 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 93, send timeouts 0, received 22, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36077/37121
2025-04-29 05:52:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2268
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10310, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:52:15 [info] currentZPosition:0.00427
2025-04-29 05:52:16 [debug] Stopped at height 0.003 mm
2025-04-29 05:52:16 [debug] Diagnostics for board 50:
2025-04-29 05:52:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:52:16 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:40:08 ago, cause: software
2025-04-29 05:52:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 05:52:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 05:52:16 [debug] Moves scheduled 25615, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 312, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=934, frequency (Hz): min=997, max=15306
Sync err accum 92, peak jitter 0/1, peak Rx delay 195, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 2285896075 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, curr
2025-04-29 05:52:16 [debug] Driver 0: pos -9601, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16071, writes 0 timeouts 0
2025-04-29 05:52:16 [debug] Last sensors broadcast 0x00000000 found 0 170 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 94, 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 363, adv 35603/37111
2025-04-29 05:52:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10380, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:52:16 [info] currentZPosition:0.00338
2025-04-29 05:52:18 [debug] Stopped at height 0.004 mm
2025-04-29 05:52:18 [debug] Diagnostics for board 50:
2025-04-29 05:52:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:52:18 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:40:09 ago, cause: software
2025-04-29 05:52:18 [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
2025-04-29 05:52:18 [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
2025-04-29 05:52:18 [debug] Moves scheduled 25619, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 656, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=792, frequency (Hz): min=1159, max=15306
Sync err accum 97, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2284728694 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 05:52:18 [debug] Driver 0: pos -9597, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18186, writes 0 timeouts 0
2025-04-29 05:52:18 [debug] Last sensors broadcast 0x00000000 found 0 223 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 93, 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 426, adv 35946/37126
2025-04-29 05:52:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2269
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10352, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:52:18 [info] currentZPosition:0.00388
2025-04-29 05:52:19 [debug] Stopped at height 0.004 mm
2025-04-29 05:52:19 [debug] Diagnostics for board 50:
2025-04-29 05:52:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:52:19 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:40:11 ago, cause: software
2025-04-29 05:52:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 05:52:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 05:52:19 [debug] Moves scheduled 25623, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 1002, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=516, frequency (Hz): min=1720, max=15306
Sync err accum 98, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2283704431 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.4C, max
2025-04-29 05:52:19 [debug] Driver 0: pos -9596, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15912, writes 0 timeouts 0
2025-04-29 05:52:19 [debug] Last sensors broadcast 0x00000000 found 0 95 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 96, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 35838/37136
2025-04-29 05:52:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10341, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:52:19 [info] currentZPosition:0.00398
2025-04-29 05:52:21 [debug] Stopped at height 0.003 mm
2025-04-29 05:52:21 [debug] Diagnostics for board 50:
2025-04-29 05:52:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:52:21 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:40:12 ago, cause: software
2025-04-29 05:52:21 [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
2025-04-29 05:52:21 [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
2025-04-29 05:52:21 [debug] Moves scheduled 25627, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=621, frequency (Hz): min=1371, max=23437
Sync err accum 89, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2282501286 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.4C, max
2025-04-29 05:52:21 [debug] Driver 0: pos -9610, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18686, writes 0 timeouts 0
2025-04-29 05:52:21 [debug] Last sensors broadcast 0x00000000 found 0 195 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 103, 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 376, adv 35859/37097
2025-04-29 05:52:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2279
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10405, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:52:21 [info] currentZPosition:0.00258
2025-04-29 05:52:21 [debug] Stopped at height 0.002 mm
2025-04-29 05:52:23 [debug] Stopped at height 0.004 mm
2025-04-29 05:52:23 [debug] Diagnostics for board 50:
2025-04-29 05:52:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:52:23 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.5%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:40:14 ago, cause: software
2025-04-29 05:52:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 05:52:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 05:52:23 [debug] Moves scheduled 25633, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=828, frequency (Hz): min=1090, max=15306
Sync err accum 73, peak jitter -3/-1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2281253627 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.4C, ma
2025-04-29 05:52:23 [debug] Driver 0: pos -9598, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 19437, writes 0 timeouts 0
2025-04-29 05:52:23 [debug] Last sensors broadcast 0x00000000 found 0 109 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 110, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 35916/37091
2025-04-29 05:52:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10332, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:52:23 [info] currentZPosition:0.00398
2025-04-29 05:52:23 [debug] Stopped at height 0.003 mm
2025-04-29 05:52:24 [debug] Stopped at height 0.004 mm
2025-04-29 05:52:24 [debug] Diagnostics for board 50:
2025-04-29 05:52:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:52:24 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:40:16 ago, cause: software
2025-04-29 05:52:24 [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
2025-04-29 05:52:24 [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
2025-04-29 05:52:24 [debug] Moves scheduled 25639, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 305, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=792, frequency (Hz): min=778, max=15306
Sync err accum 61, peak jitter -3/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2279837150 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.4C, max 
2025-04-29 05:52:24 [debug] Driver 0: pos -9602, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 22263, writes 22 timeouts 2
2025-04-29 05:52:24 [debug] Last sensors broadcast 0x00000000 found 0 248 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 106, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 35756/37127
2025-04-29 05:52:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10362, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:52:25 [info] currentZPosition:0.00358
2025-04-29 05:52:26 [debug] Stopped at height 0.005 mm
2025-04-29 05:52:26 [debug] Diagnostics for board 50:
2025-04-29 05:52:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:52:26 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:40:17 ago, cause: software
2025-04-29 05:52:26 [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
2025-04-29 05:52:26 [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
2025-04-29 05:52:26 [debug] Moves scheduled 25643, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 162, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=712, frequency (Hz): min=686, max=15306
Sync err accum 74, peak jitter 2/3, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2278832428 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.4C, max 3
2025-04-29 05:52:26 [debug] Driver 0: pos -9591, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15428, writes 11 timeouts 1
2025-04-29 05:52:26 [debug] Last sensors broadcast 0x00000000 found 0 86 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 86, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 35989/37064
2025-04-29 05:52:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10352, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4707, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:52:26 [info] currentZPosition:0.00467
2025-04-29 05:52:27 [debug] Stopped at height 0.004 mm
2025-04-29 05:52:27 [debug] Diagnostics for board 50:
2025-04-29 05:52:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:52:27 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:40:19 ago, cause: software
2025-04-29 05:52:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 05:52:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 05:52:27 [debug] Moves scheduled 25647, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 309, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=602, frequency (Hz): min=1431, max=15625
Sync err accum 89, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 2277646271 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:52:27 [debug] Driver 0: pos -9597, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18591, writes 0 timeouts 0
2025-04-29 05:52:27 [debug] Last sensors broadcast 0x00000000 found 0 170 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 94, 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 343, adv 35616/37156
2025-04-29 05:52:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10344, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:52:27 [info] currentZPosition:0.00408
2025-04-29 05:52:29 [debug] Stopped at height 0.005 mm
2025-04-29 05:52:29 [debug] Diagnostics for board 50:
2025-04-29 05:52:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:52:29 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:40:20 ago, cause: software
2025-04-29 05:52:29 [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
2025-04-29 05:52:29 [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
2025-04-29 05:52:29 [debug] Moves scheduled 25651, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=574, frequency (Hz): min=1473, max=15625
Sync err accum 95, peak jitter 1/1, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2276633995 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max 
2025-04-29 05:52:29 [debug] Driver 0: pos -9589, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15726, writes 0 timeouts 0
2025-04-29 05:52:29 [debug] Last sensors broadcast 0x00000000 found 0 19 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 86, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36217/37122
2025-04-29 05:52:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10319, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:52:29 [info] currentZPosition:0.00487
2025-04-29 05:52:30 [debug] Stopped at height 0.003 mm
2025-04-29 05:52:30 [debug] Diagnostics for board 50:
2025-04-29 05:52:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:52:30 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:40:22 ago, cause: software
2025-04-29 05:52:30 [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
2025-04-29 05:52:30 [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
2025-04-29 05:52:30 [debug] Moves scheduled 25655, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=557, frequency (Hz): min=1394, max=15625
Sync err accum 101, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2275427440 ticks, 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
2025-04-29 05:52:30 [debug] Driver 0: pos -9606, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18955, writes 0 timeouts 0
2025-04-29 05:52:30 [debug] Last sensors broadcast 0x00000000 found 0 128 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 104, 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 369, adv 36264/37139
2025-04-29 05:52:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10404, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:52:30 [info] currentZPosition:0.00318
2025-04-29 05:52:31 [debug] Stopped at height 0.002 mm
2025-04-29 05:52:32 [debug] Stopped at height 0.004 mm
2025-04-29 05:52:32 [debug] Diagnostics for board 50:
2025-04-29 05:52:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:52:32 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.5%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:40:23 ago, cause: software
2025-04-29 05:52:32 [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
2025-04-29 05:52:32 [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
2025-04-29 05:52:32 [debug] Moves scheduled 25661, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=642, frequency (Hz): min=551, max=15306
Sync err accum 99, peak jitter -1/0, peak Rx delay 186, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2274173616 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.4C, max 
2025-04-29 05:52:32 [debug] Driver 0: pos -9595, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 19472, writes 11 timeouts 1
2025-04-29 05:52:32 [debug] Last sensors broadcast 0x00000000 found 0 49 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 109, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 35743/37127
2025-04-29 05:52:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10357, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:52:32 [info] currentZPosition:0.00427
2025-04-29 05:52:32 [debug] Stopped at height 0.003 mm
2025-04-29 05:52:34 [debug] Stopped at height 0.005 mm
2025-04-29 05:52:34 [debug] Diagnostics for board 50:
2025-04-29 05:52:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:52:34 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:40:25 ago, cause: software
2025-04-29 05:52:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 05:52:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 05:52:34 [debug] Moves scheduled 25667, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 229, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=648, frequency (Hz): min=1227, max=15625
Sync err accum 91, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 2272773814 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:52:34 [debug] Driver 0: pos -9592, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 22020, writes 0 timeouts 0
2025-04-29 05:52:34 [debug] Last sensors broadcast 0x00000000 found 0 165 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 102, 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 367, adv 36077/37171
2025-04-29 05:52:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10334, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4707, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:52:34 [info] currentZPosition:0.00457
2025-04-29 05:52:34 [debug] Stopped at height 0.003 mm
2025-04-29 05:52:36 [debug] Stopped at height 0.005 mm
2025-04-29 05:52:36 [debug] Diagnostics for board 50:
2025-04-29 05:52:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:52:36 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.8%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:40:27 ago, cause: software
2025-04-29 05:52:36 [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
2025-04-29 05:52:36 [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
2025-04-29 05:52:36 [debug] Moves scheduled 25673, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=589, frequency (Hz): min=1485, max=15306
Sync err accum 78, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 4294967244 ticks, disabled, next step interrupt due in 2271522556 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: mi
2025-04-29 05:52:36 [debug] Driver 0: pos -9589, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 19611, writes 0 timeouts 0
2025-04-29 05:52:36 [debug] Last sensors broadcast 0x00000000 found 0 82 ticks ago, 0 ordering errs, loop time 2
CAN messages queued 112, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 35877/37131
2025-04-29 05:52:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10329, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2267
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:52:36 [info] currentZPosition:0.00487
2025-04-29 05:52:36 [debug] Stopped at height 0.003 mm
2025-04-29 05:52:37 [debug] Stopped at height 0.005 mm
2025-04-29 05:52:37 [debug] Diagnostics for board 50:
2025-04-29 05:52:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:52:37 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:40:29 ago, cause: software
2025-04-29 05:52:37 [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
2025-04-29 05:52:37 [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
2025-04-29 05:52:37 [debug] Moves scheduled 25679, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=722, frequency (Hz): min=493, max=15306
Sync err accum 58, peak jitter -3/-1, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2270117431 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max
2025-04-29 05:52:37 [debug] Driver 0: pos -9590, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 22144, writes 11 timeouts 1
2025-04-29 05:52:37 [debug] Last sensors broadcast 0x00000000 found 0 206 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 102, 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 366, adv 35970/37131
2025-04-29 05:52:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2268
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10330, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4708, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:52:38 [info] currentZPosition:0.00477
2025-04-29 05:52:38 [debug] Stopped at height 0.004 mm
2025-04-29 05:52:39 [debug] Stopped at height 0.005 mm
2025-04-29 05:52:39 [debug] Diagnostics for board 50:
2025-04-29 05:52:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:52:39 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.9%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:40:30 ago, cause: software
2025-04-29 05:52:39 [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
2025-04-29 05:52:39 [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
2025-04-29 05:52:39 [debug] Moves scheduled 25685, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=512, frequency (Hz): min=1700, max=15306
Sync err accum 75, peak jitter 1/3, peak Rx delay 194, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2268861299 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:52:39 [debug] Driver 0: pos -9591, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 19685, writes 0 timeouts 0
2025-04-29 05:52:39 [debug] Last sensors broadcast 0x00000000 found 0 131 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 97, 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 367, adv 35998/37122
2025-04-29 05:52:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10326, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:52:39 [info] currentZPosition:0.00467
2025-04-29 05:52:41 [debug] Stopped at height 0.005 mm
2025-04-29 05:52:41 [debug] Diagnostics for board 50:
2025-04-29 05:52:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:52:41 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:40:32 ago, cause: software
2025-04-29 05:52:41 [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
2025-04-29 05:52:41 [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
2025-04-29 05:52:41 [debug] Moves scheduled 25689, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=592, frequency (Hz): min=1339, max=15306
Sync err accum 91, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 2267692181 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:52:41 [debug] Driver 0: pos -9591, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18320, writes 0 timeouts 0
2025-04-29 05:52:41 [debug] Last sensors broadcast 0x00000000 found 0 191 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 88, 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 408, adv 35745/37150
2025-04-29 05:52:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2269
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10345, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:52:41 [info] currentZPosition:0.00467
2025-04-29 05:52:42 [debug] Stopped at height 0.004 mm
2025-04-29 05:52:42 [debug] Diagnostics for board 50:
2025-04-29 05:52:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:52:42 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.2%
Owned mutexes:
Last reset 16:40:33 ago, cause: software
2025-04-29 05:52:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 05:52:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 05:52:42 [debug] Moves scheduled 25693, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 275, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=737, frequency (Hz): min=1213, max=15306
Sync err accum 104, peak jitter 1/3, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2266659775 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:52:42 [debug] Driver 0: pos -9595, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15906, writes 0 timeouts 0
2025-04-29 05:52:42 [debug] Last sensors broadcast 0x00000000 found 0 67 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 90, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36236/37080
2025-04-29 05:52:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2269
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10329, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4707, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:52:42 [info] currentZPosition:0.00427
2025-04-29 05:52:44 [debug] Stopped at height 0.004 mm
2025-04-29 05:52:44 [debug] Diagnostics for board 50:
2025-04-29 05:52:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:52:44 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:40:35 ago, cause: software
2025-04-29 05:52:44 [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
2025-04-29 05:52:44 [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
2025-04-29 05:52:44 [debug] Moves scheduled 25697, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 167, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=646, frequency (Hz): min=1434, max=15306
Sync err accum 111, peak jitter 0/2, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2265485438 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max
2025-04-29 05:52:44 [debug] Driver 0: pos -9596, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18283, writes 0 timeouts 0
2025-04-29 05:52:44 [debug] Last sensors broadcast 0x00000000 found 0 133 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 92, 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 362, adv 35710/37111
2025-04-29 05:52:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2269
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10331, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:52:44 [info] currentZPosition:0.00417
2025-04-29 05:52:45 [debug] Stopped at height 0.005 mm
2025-04-29 05:52:45 [debug] Diagnostics for board 50:
2025-04-29 05:52:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:52:45 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:40:36 ago, cause: software
2025-04-29 05:52:45 [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
2025-04-29 05:52:45 [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
2025-04-29 05:52:45 [debug] Moves scheduled 25701, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=592, frequency (Hz): min=1497, max=15306
Sync err accum 111, peak jitter 0/0, peak Rx delay 184, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2264468635 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max
2025-04-29 05:52:45 [debug] Driver 0: pos -9592, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15731, writes 0 timeouts 0
2025-04-29 05:52:45 [debug] Last sensors broadcast 0x00000000 found 0 238 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 83, 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 372, adv 35704/37169
2025-04-29 05:52:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10335, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2267
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:52:45 [info] currentZPosition:0.00467
2025-04-29 05:52:47 [debug] Stopped at height 0.003 mm
2025-04-29 05:52:47 [debug] Diagnostics for board 50:
2025-04-29 05:52:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:52:47 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:40:38 ago, cause: software
2025-04-29 05:52:47 [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
2025-04-29 05:52:47 [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
2025-04-29 05:52:47 [debug] Moves scheduled 25705, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 166, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=678, frequency (Hz): min=1288, max=15306
Sync err accum 107, peak jitter -1/0, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 2263265624 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 05:52:47 [debug] Driver 0: pos -9606, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18853, writes 0 timeouts 0
2025-04-29 05:52:47 [debug] Last sensors broadcast 0x00000000 found 0 94 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 104, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36281/37142
2025-04-29 05:52:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10396, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:52:47 [info] currentZPosition:0.00328
2025-04-29 05:52:47 [debug] Stopped at height 0.001 mm
2025-04-29 05:52:47 [debug] Stopped at height 0.001 mm
2025-04-29 05:52:49 [debug] Stopped at height 0.004 mm
2025-04-29 05:52:49 [debug] Diagnostics for board 50:
2025-04-29 05:52:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:52:49 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.9%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:40:40 ago, cause: software
2025-04-29 05:52:49 [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
2025-04-29 05:52:49 [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
2025-04-29 05:52:49 [debug] Moves scheduled 25713, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=473, frequency (Hz): min=1644, max=15625
Sync err accum 91, peak jitter -3/-1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 4294967244 ticks, disabled, next step interrupt due in 2261769996 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: mi
2025-04-29 05:52:49 [debug] Driver 0: pos -9598, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 23452, writes 0 timeouts 0
2025-04-29 05:52:49 [debug] Last sensors broadcast 0x00000000 found 0 87 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 139, 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 380, adv 35916/37165
2025-04-29 05:52:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2268
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10339, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:52:49 [info] currentZPosition:0.00408
2025-04-29 05:52:49 [debug] Stopped at height 0.003 mm
2025-04-29 05:52:50 [debug] Stopped at height 0.005 mm
2025-04-29 05:52:50 [debug] Diagnostics for board 50:
2025-04-29 05:52:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:52:50 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:40:42 ago, cause: software
2025-04-29 05:52:50 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 05:52:50 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 05:52:50 [debug] Moves scheduled 25719, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 307, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=505, frequency (Hz): min=1524, max=15306
Sync err accum 72, peak jitter -3/-1, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2260370535 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatu
2025-04-29 05:52:50 [debug] Driver 0: pos -9592, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 22051, writes 0 timeouts 0
2025-04-29 05:52:50 [debug] Last sensors broadcast 0x00000000 found 0 204 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 104, 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 421, adv 36182/37127
2025-04-29 05:52:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10354, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2268
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:52:51 [info] currentZPosition:0.00467
2025-04-29 05:52:52 [debug] Stopped at height 0.003 mm
2025-04-29 05:52:52 [debug] Diagnostics for board 50:
2025-04-29 05:52:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:52:52 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:40:43 ago, cause: software
2025-04-29 05:52:52 [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
2025-04-29 05:52:52 [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
2025-04-29 05:52:52 [debug] Moves scheduled 25723, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 252, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=498, frequency (Hz): min=1512, max=15306
Sync err accum 57, peak jitter -3/-1, peak Rx delay 186, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 2259321043 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 05:52:52 [debug] Driver 0: pos -9607, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16217, writes 0 timeouts 0
2025-04-29 05:52:52 [debug] Last sensors broadcast 0x00000000 found 0 102 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 100, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 426, adv 36144/37090
2025-04-29 05:52:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10413, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:52:52 [info] currentZPosition:0.00318
2025-04-29 05:52:52 [debug] Stopped at height 0.003 mm
2025-04-29 05:52:54 [debug] Stopped at height 0.005 mm
2025-04-29 05:52:54 [debug] Diagnostics for board 50:
2025-04-29 05:52:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:52:54 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:40:45 ago, cause: software
2025-04-29 05:52:54 [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
2025-04-29 05:52:54 [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
2025-04-29 05:52:54 [debug] Moves scheduled 25729, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 294, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=698, frequency (Hz): min=786, max=15306
Sync err accum 75, peak jitter 0/4, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2257947800 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, curr
2025-04-29 05:52:54 [debug] Driver 0: pos -9589, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 21701, writes 11 timeouts 1
2025-04-29 05:52:54 [debug] Last sensors broadcast 0x00000000 found 0 183 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 98, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 392, adv 35980/37142
2025-04-29 05:52:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2267
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10309, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:52:54 [info] currentZPosition:0.00497
2025-04-29 05:52:54 [debug] Stopped at height 0.004 mm
2025-04-29 05:52:55 [debug] Stopped at height 0.004 mm
2025-04-29 05:52:55 [debug] Diagnostics for board 50:
2025-04-29 05:52:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:52:55 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.7%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:40:47 ago, cause: software
2025-04-29 05:52:55 [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
2025-04-29 05:52:55 [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
2025-04-29 05:52:55 [debug] Moves scheduled 25735, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 278, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=573, frequency (Hz): min=1619, max=15306
Sync err accum 94, peak jitter 1/3, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2256672369 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:52:55 [debug] Driver 0: pos -9600, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20033, writes 0 timeouts 0
2025-04-29 05:52:55 [debug] Last sensors broadcast 0x00000000 found 0 136 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 111, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36332/37168
2025-04-29 05:52:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10389, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:52:55 [info] currentZPosition:0.00388
2025-04-29 05:52:57 [debug] Stopped at height 0.004 mm
2025-04-29 05:52:57 [debug] Diagnostics for board 50:
2025-04-29 05:52:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:52:57 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:40:48 ago, cause: software
2025-04-29 05:52:57 [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
2025-04-29 05:52:57 [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
2025-04-29 05:52:57 [debug] Moves scheduled 25739, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 161, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=418, frequency (Hz): min=547, max=15306
Sync err accum 106, peak jitter 1/2, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2255505562 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max 
2025-04-29 05:52:57 [debug] Driver 0: pos -9596, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18134, writes 11 timeouts 1
2025-04-29 05:52:57 [debug] Last sensors broadcast 0x00000000 found 0 191 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 89, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 358, adv 35884/37113
2025-04-29 05:52:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10342, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:52:57 [info] currentZPosition:0.00427
2025-04-29 05:52:58 [debug] Stopped at height 0.004 mm
2025-04-29 05:52:58 [debug] Diagnostics for board 50:
2025-04-29 05:52:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:52:58 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.7%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:40:50 ago, cause: software
2025-04-29 05:52:58 [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
2025-04-29 05:52:58 [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
2025-04-29 05:52:58 [debug] Moves scheduled 25743, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 244, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=508, frequency (Hz): min=1503, max=17045
Sync err accum 114, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 2254473643 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:52:58 [debug] Driver 0: pos -9597, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15994, writes 0 timeouts 0
2025-04-29 05:52:58 [debug] Last sensors broadcast 0x00000000 found 0 64 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 92, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 35777/37122
2025-04-29 05:52:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10371, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4707, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:52:58 [info] currentZPosition:0.00417
2025-04-29 05:53:00 [debug] Stopped at height 0.003 mm
2025-04-29 05:53:00 [debug] Diagnostics for board 50:
2025-04-29 05:53:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:53:00 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:40:51 ago, cause: software
2025-04-29 05:53:00 [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
2025-04-29 05:53:00 [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
2025-04-29 05:53:00 [debug] Moves scheduled 25747, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=633, frequency (Hz): min=1256, max=30000
Sync err accum 116, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2253280391 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, ma
2025-04-29 05:53:00 [debug] Driver 0: pos -9608, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18708, writes 0 timeouts 0
2025-04-29 05:53:00 [debug] Last sensors broadcast 0x00000000 found 0 159 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 102, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 35767/37153
2025-04-29 05:53:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10415, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:53:00 [info] currentZPosition:0.00318
2025-04-29 05:53:01 [debug] Stopped at height 0.004 mm
2025-04-29 05:53:01 [debug] Diagnostics for board 50:
2025-04-29 05:53:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:53:01 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:40:52 ago, cause: software
2025-04-29 05:53:01 [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
2025-04-29 05:53:01 [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
2025-04-29 05:53:01 [debug] Moves scheduled 25751, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=636, frequency (Hz): min=1341, max=15306
Sync err accum 114, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2252267929 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.4C, ma
2025-04-29 05:53:01 [debug] Driver 0: pos -9598, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15564, writes 0 timeouts 0
2025-04-29 05:53:01 [debug] Last sensors broadcast 0x00000000 found 0 8 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 91, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 362, adv 36066/37171
2025-04-29 05:53:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10366, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4708, no error
Lin: Encoder reverse polarity: no, raw count 2268
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:53:01 [info] currentZPosition:0.00417
2025-04-29 05:53:03 [debug] Stopped at height 0.005 mm
2025-04-29 05:53:03 [debug] Diagnostics for board 50:
2025-04-29 05:53:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:53:03 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:40:54 ago, cause: software
2025-04-29 05:53:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 05:53:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 05:53:03 [debug] Moves scheduled 25755, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 240, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=448, frequency (Hz): min=1736, max=15306
Sync err accum 106, peak jitter -2/0, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 2251109234 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 05:53:03 [debug] Driver 0: pos -9592, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18160, writes 0 timeouts 0
2025-04-29 05:53:03 [debug] Last sensors broadcast 0x00000000 found 0 52 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 89, 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 381, adv 35669/37112
2025-04-29 05:53:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2269
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10324, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:53:03 [info] currentZPosition:0.00477
2025-04-29 05:53:04 [debug] Stopped at height 0.004 mm
2025-04-29 05:53:04 [debug] Diagnostics for board 50:
2025-04-29 05:53:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:53:04 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.6%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.2%
Owned mutexes:
Last reset 16:40:55 ago, cause: software
2025-04-29 05:53:04 [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
2025-04-29 05:53:04 [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
2025-04-29 05:53:04 [debug] Moves scheduled 25759, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 334, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=478, frequency (Hz): min=1527, max=15306
Sync err accum 93, peak jitter -2/-1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2250075356 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, ma
2025-04-29 05:53:04 [debug] Driver 0: pos -9596, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16069, writes 0 timeouts 0
2025-04-29 05:53:04 [debug] Last sensors broadcast 0x00000000 found 0 182 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 90, 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 391, adv 36272/37099
2025-04-29 05:53:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10365, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:53:04 [info] currentZPosition:0.00437
2025-04-29 05:53:06 [debug] Stopped at height 0.004 mm
2025-04-29 05:53:06 [debug] Diagnostics for board 50:
2025-04-29 05:53:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:53:06 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:40:57 ago, cause: software
2025-04-29 05:53:06 [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
2025-04-29 05:53:06 [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
2025-04-29 05:53:06 [debug] Moves scheduled 25763, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=506, frequency (Hz): min=1121, max=15306
Sync err accum 74, peak jitter -3/-2, peak Rx delay 186, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 2248901319 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 05:53:06 [debug] Driver 0: pos -9597, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18403, writes 0 timeouts 0
2025-04-29 05:53:06 [debug] Last sensors broadcast 0x00000000 found 0 247 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 94, 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 385, adv 36194/37124
2025-04-29 05:53:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10334, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:53:06 [info] currentZPosition:0.00427
2025-04-29 05:53:07 [debug] Stopped at height 0.004 mm
2025-04-29 05:53:07 [debug] Diagnostics for board 50:
2025-04-29 05:53:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:53:07 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.3%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:40:58 ago, cause: software
2025-04-29 05:53:07 [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
2025-04-29 05:53:07 [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
2025-04-29 05:53:07 [debug] Moves scheduled 25767, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=650, frequency (Hz): min=1159, max=15306
Sync err accum 59, peak jitter -4/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 2247872014 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:53:07 [debug] Driver 0: pos -9600, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15860, writes 0 timeouts 0
2025-04-29 05:53:07 [debug] Last sensors broadcast 0x00000000 found 0 118 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 96, 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 360, adv 35752/37158
2025-04-29 05:53:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10380, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4697, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:53:07 [info] currentZPosition:0.00398
2025-04-29 05:53:09 [debug] Stopped at height 0.005 mm
2025-04-29 05:53:09 [debug] Diagnostics for board 50:
2025-04-29 05:53:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:53:09 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:41:00 ago, cause: software
2025-04-29 05:53:09 [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
2025-04-29 05:53:09 [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
2025-04-29 05:53:09 [debug] Moves scheduled 25771, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 881, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=485, frequency (Hz): min=1677, max=15625
Sync err accum 77, peak jitter 1/3, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2246715569 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max 
2025-04-29 05:53:09 [debug] Driver 0: pos -9593, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18086, writes 0 timeouts 0
2025-04-29 05:53:09 [debug] Last sensors broadcast 0x00000000 found 0 162 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 89, 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 766, adv 36075/37169
2025-04-29 05:53:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10322, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:53:09 [info] currentZPosition:0.00467
2025-04-29 05:53:10 [debug] Stopped at height 0.005 mm
2025-04-29 05:53:10 [debug] Diagnostics for board 50:
2025-04-29 05:53:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:53:10 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.5%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:41:01 ago, cause: software
2025-04-29 05:53:10 [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
2025-04-29 05:53:10 [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
2025-04-29 05:53:10 [debug] Moves scheduled 25775, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=633, frequency (Hz): min=1170, max=15625
Sync err accum 93, peak jitter 2/3, peak Rx delay 187, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2245692024 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.4C, max 
2025-04-29 05:53:10 [debug] Driver 0: pos -9593, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15875, writes 0 timeouts 0
2025-04-29 05:53:10 [debug] Last sensors broadcast 0x00000000 found 0 23 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 88, 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 360, adv 35939/37155
2025-04-29 05:53:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2269
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10320, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:53:10 [info] currentZPosition:0.00477
2025-04-29 05:53:12 [debug] Stopped at height 0.005 mm
2025-04-29 05:53:12 [debug] Diagnostics for board 50:
2025-04-29 05:53:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:53:12 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:41:03 ago, cause: software
2025-04-29 05:53:12 [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
2025-04-29 05:53:12 [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
2025-04-29 05:53:12 [debug] Moves scheduled 25779, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 162, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=572, frequency (Hz): min=1559, max=15306
Sync err accum 108, peak jitter 1/3, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2244524842 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max
2025-04-29 05:53:12 [debug] Driver 0: pos -9593, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18300, writes 0 timeouts 0
2025-04-29 05:53:12 [debug] Last sensors broadcast 0x00000000 found 0 79 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 88, send timeouts 0, received 22, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 35931/37102
2025-04-29 05:53:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2269
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10348, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:53:12 [info] currentZPosition:0.00477
2025-04-29 05:53:13 [debug] Stopped at height 0.005 mm
2025-04-29 05:53:13 [debug] Diagnostics for board 50:
2025-04-29 05:53:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:53:13 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:41:04 ago, cause: software
2025-04-29 05:53:13 [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
2025-04-29 05:53:13 [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
2025-04-29 05:53:13 [debug] Moves scheduled 25783, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 306, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=516, frequency (Hz): min=1651, max=15306
Sync err accum 116, peak jitter 1/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 2243500353 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:53:13 [debug] Driver 0: pos -9595, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15915, writes 0 timeouts 0
2025-04-29 05:53:13 [debug] Last sensors broadcast 0x00000000 found 0 199 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 89, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36202/37148
2025-04-29 05:53:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10339, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:53:13 [info] currentZPosition:0.00457
2025-04-29 05:53:14 [debug] Stopped at height 0.004 mm
2025-04-29 05:53:14 [debug] Diagnostics for board 50:
2025-04-29 05:53:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:53:14 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:41:06 ago, cause: software
2025-04-29 05:53:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 05:53:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 05:53:14 [debug] Moves scheduled 25787, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=664, frequency (Hz): min=1188, max=15957
Sync err accum 115, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2242324076 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, ma
2025-04-29 05:53:14 [debug] Driver 0: pos -9598, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18364, writes 0 timeouts 0
2025-04-29 05:53:14 [debug] Last sensors broadcast 0x00000000 found 0 16 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 94, 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 495, adv 35842/37095
2025-04-29 05:53:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10356, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:53:15 [info] currentZPosition:0.00427
2025-04-29 05:53:16 [debug] Stopped at height 0.004 mm
2025-04-29 05:53:16 [debug] Diagnostics for board 50:
2025-04-29 05:53:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:53:16 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:41:07 ago, cause: software
2025-04-29 05:53:16 [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
2025-04-29 05:53:16 [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
2025-04-29 05:53:16 [debug] Moves scheduled 25791, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=470, frequency (Hz): min=1662, max=15306
Sync err accum 117, peak jitter -1/1, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2241298418 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, ma
2025-04-29 05:53:16 [debug] Driver 0: pos -9598, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15776, writes 0 timeouts 0
2025-04-29 05:53:16 [debug] Last sensors broadcast 0x00000000 found 0 134 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 91, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 35645/37108
2025-04-29 05:53:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10328, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:53:16 [info] currentZPosition:0.00447
2025-04-29 05:53:17 [debug] Stopped at height 0.004 mm
2025-04-29 05:53:17 [debug] Diagnostics for board 50:
2025-04-29 05:53:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:53:17 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:41:09 ago, cause: software
2025-04-29 05:53:17 [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
2025-04-29 05:53:17 [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
2025-04-29 05:53:17 [debug] Moves scheduled 25795, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=624, frequency (Hz): min=1182, max=15625
Sync err accum 109, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 2240121981 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 05:53:17 [debug] Driver 0: pos -9603, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18347, writes 0 timeouts 0
2025-04-29 05:53:17 [debug] Last sensors broadcast 0x00000000 found 0 204 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 98, 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 373, adv 35670/37143
2025-04-29 05:53:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10360, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:53:18 [info] currentZPosition:0.00398
2025-04-29 05:53:19 [debug] Stopped at height 0.004 mm
2025-04-29 05:53:19 [debug] Diagnostics for board 50:
2025-04-29 05:53:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:53:19 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:41:10 ago, cause: software
2025-04-29 05:53:19 [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
2025-04-29 05:53:19 [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
2025-04-29 05:53:19 [debug] Moves scheduled 25799, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=465, frequency (Hz): min=1861, max=15306
Sync err accum 96, peak jitter -3/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 2239104630 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 05:53:19 [debug] Driver 0: pos -9598, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15729, writes 0 timeouts 0
2025-04-29 05:53:19 [debug] Last sensors broadcast 0x00000000 found 0 57 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 91, 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 370, adv 35800/37117
2025-04-29 05:53:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10335, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:53:19 [info] currentZPosition:0.00447
2025-04-29 05:53:20 [debug] Stopped at height 0.005 mm
2025-04-29 05:53:20 [debug] Diagnostics for board 50:
2025-04-29 05:53:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:53:20 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:41:12 ago, cause: software
2025-04-29 05:53:20 [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
2025-04-29 05:53:20 [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
2025-04-29 05:53:20 [debug] Moves scheduled 25803, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 318, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=736, frequency (Hz): min=1221, max=15625
Sync err accum 80, peak jitter -3/-2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 2237936646 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 05:53:20 [debug] Driver 0: pos -9597, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18235, writes 0 timeouts 0
2025-04-29 05:53:20 [debug] Last sensors broadcast 0x00000000 found 0 116 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 94, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36307/37135
2025-04-29 05:53:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10376, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2268
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:53:20 [info] currentZPosition:0.00457
2025-04-29 05:53:22 [debug] Stopped at height 0.005 mm
2025-04-29 05:53:22 [debug] Diagnostics for board 50:
2025-04-29 05:53:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:53:22 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:41:13 ago, cause: software
2025-04-29 05:53:22 [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
2025-04-29 05:53:22 [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
2025-04-29 05:53:22 [debug] Moves scheduled 25807, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=545, frequency (Hz): min=1602, max=15306
Sync err accum 60, peak jitter -4/-1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2236909920 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, ma
2025-04-29 05:53:22 [debug] Driver 0: pos -9597, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15776, writes 0 timeouts 0
2025-04-29 05:53:22 [debug] Last sensors broadcast 0x00000000 found 0 232 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 91, 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 494, adv 36014/37139
2025-04-29 05:53:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10357, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2268
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:53:22 [info] currentZPosition:0.00457
2025-04-29 05:53:23 [debug] Stopped at height 0.005 mm
2025-04-29 05:53:23 [debug] Diagnostics for board 50:
2025-04-29 05:53:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:53:23 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:41:15 ago, cause: software
2025-04-29 05:53:23 [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
2025-04-29 05:53:23 [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
2025-04-29 05:53:23 [debug] Moves scheduled 25811, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 161, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=462, frequency (Hz): min=628, max=15306
Sync err accum 70, peak jitter 0/3, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2235762208 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max 3
2025-04-29 05:53:23 [debug] Driver 0: pos -9588, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17951, writes 11 timeouts 1
2025-04-29 05:53:23 [debug] Last sensors broadcast 0x00000000 found 0 14 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 89, 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 379, adv 36145/37108
2025-04-29 05:53:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2269
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10321, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:53:23 [info] currentZPosition:0.00547
2025-04-29 05:53:25 [debug] Stopped at height 0.005 mm
2025-04-29 05:53:25 [debug] Diagnostics for board 50:
2025-04-29 05:53:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:53:25 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.6%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:41:16 ago, cause: software
2025-04-29 05:53:25 [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
2025-04-29 05:53:25 [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
2025-04-29 05:53:25 [debug] Moves scheduled 25815, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 306, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=494, frequency (Hz): min=1623, max=15306
Sync err accum 81, peak jitter 1/2, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 2234721002 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:53:25 [debug] Driver 0: pos -9596, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16155, writes 0 timeouts 0
2025-04-29 05:53:25 [debug] Last sensors broadcast 0x00000000 found 0 154 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 91, 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 387, adv 36231/37163
2025-04-29 05:53:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10366, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:53:25 [info] currentZPosition:0.00467
2025-04-29 05:53:26 [debug] Stopped at height 0.004 mm
2025-04-29 05:53:26 [debug] Diagnostics for board 50:
2025-04-29 05:53:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:53:26 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:41:17 ago, cause: software
2025-04-29 05:53:26 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 05:53:26 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 05:53:26 [debug] Moves scheduled 25819, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=477, frequency (Hz): min=1540, max=15306
Sync err accum 89, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 2233532057 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:53:26 [debug] Driver 0: pos -9605, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18507, writes 0 timeouts 0
2025-04-29 05:53:26 [debug] Last sensors broadcast 0x00000000 found 0 238 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 98, 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 376, adv 36100/37111
2025-04-29 05:53:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10398, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:53:26 [info] currentZPosition:0.00378
2025-04-29 05:53:28 [debug] Stopped at height 0.006 mm
2025-04-29 05:53:28 [debug] Diagnostics for board 50:
2025-04-29 05:53:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:53:28 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:41:19 ago, cause: software
2025-04-29 05:53:28 [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
2025-04-29 05:53:28 [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
2025-04-29 05:53:28 [debug] Moves scheduled 25823, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 165, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=500, frequency (Hz): min=573, max=15306
Sync err accum 89, peak jitter -1/1, peak Rx delay 201, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 2232543359 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:53:28 [debug] Driver 0: pos -9587, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15165, writes 11 timeouts 1
2025-04-29 05:53:28 [debug] Last sensors broadcast 0x00000000 found 0 56 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 86, 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 363, adv 35727/37101
2025-04-29 05:53:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2269
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10299, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:53:28 [info] currentZPosition:0.00557
2025-04-29 05:53:28 [debug] Stopped at height 0.004 mm
2025-04-29 05:53:29 [debug] Stopped at height 0.004 mm
2025-04-29 05:53:29 [debug] Diagnostics for board 50:
2025-04-29 05:53:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:53:29 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:41:21 ago, cause: software
2025-04-29 05:53:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 05:53:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 05:53:29 [debug] Moves scheduled 25829, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=453, frequency (Hz): min=1842, max=15306
Sync err accum 82, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2231118529 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:53:29 [debug] Driver 0: pos -9599, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 22384, writes 0 timeouts 0
2025-04-29 05:53:29 [debug] Last sensors broadcast 0x00000000 found 0 205 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 113, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 35897/37106
2025-04-29 05:53:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2268
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10337, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:53:30 [info] currentZPosition:0.00437
2025-04-29 05:53:31 [debug] Stopped at height 0.004 mm
2025-04-29 05:53:31 [debug] Diagnostics for board 50:
2025-04-29 05:53:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:53:31 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:41:22 ago, cause: software
2025-04-29 05:53:31 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 05:53:31 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 05:53:31 [debug] Moves scheduled 25833, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=588, frequency (Hz): min=637, max=15306
Sync err accum 75, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2230093707 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max
2025-04-29 05:53:31 [debug] Driver 0: pos -9601, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15814, writes 11 timeouts 1
2025-04-29 05:53:31 [debug] Last sensors broadcast 0x00000000 found 0 73 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 91, 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 417, adv 35942/37112
2025-04-29 05:53:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10392, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:53:31 [info] currentZPosition:0.00427
2025-04-29 05:53:32 [debug] Stopped at height 0.005 mm
2025-04-29 05:53:32 [debug] Diagnostics for board 50:
2025-04-29 05:53:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:53:32 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:41:24 ago, cause: software
2025-04-29 05:53:32 [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
2025-04-29 05:53:32 [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
2025-04-29 05:53:32 [debug] Moves scheduled 25837, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=621, frequency (Hz): min=1235, max=15306
Sync err accum 66, peak jitter -2/-1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 4294967244 ticks, disabled, CC0 mismatch!!, next step interrupt due in 2228939577 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU
2025-04-29 05:53:32 [debug] Driver 0: pos -9592, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17941, writes 0 timeouts 0
2025-04-29 05:53:32 [debug] Last sensors broadcast 0x00000000 found 0 111 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 92, 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 375, adv 35726/37088
2025-04-29 05:53:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10328, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2268
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:53:32 [info] currentZPosition:0.00517
2025-04-29 05:53:34 [debug] Stopped at height 0.004 mm
2025-04-29 05:53:34 [debug] Diagnostics for board 50:
2025-04-29 05:53:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:53:34 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:41:25 ago, cause: software
2025-04-29 05:53:34 [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
2025-04-29 05:53:34 [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
2025-04-29 05:53:34 [debug] Moves scheduled 25841, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 162, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=536, frequency (Hz): min=1436, max=15306
Sync err accum 65, peak jitter -2/2, peak Rx delay 195, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2227891249 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:53:34 [debug] Driver 0: pos -9604, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16332, writes 0 timeouts 0
2025-04-29 05:53:34 [debug] Last sensors broadcast 0x00000000 found 0 9 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 96, send timeouts 0, received 22, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36146/37099
2025-04-29 05:53:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10401, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:53:34 [info] currentZPosition:0.00398
2025-04-29 05:53:35 [debug] Stopped at height 0.004 mm
2025-04-29 05:53:35 [debug] Diagnostics for board 50:
2025-04-29 05:53:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:53:35 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:41:27 ago, cause: software
2025-04-29 05:53:35 [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
2025-04-29 05:53:35 [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
2025-04-29 05:53:35 [debug] Moves scheduled 25845, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=573, frequency (Hz): min=1304, max=15306
Sync err accum 77, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2226727606 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max 
2025-04-29 05:53:35 [debug] Driver 0: pos -9601, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18209, writes 0 timeouts 0
2025-04-29 05:53:35 [debug] Last sensors broadcast 0x00000000 found 0 61 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 97, 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 378, adv 35679/37089
2025-04-29 05:53:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10354, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:53:35 [info] currentZPosition:0.00427
2025-04-29 05:53:37 [debug] Stopped at height 0.005 mm
2025-04-29 05:53:37 [debug] Diagnostics for board 50:
2025-04-29 05:53:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:53:37 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.0%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:41:28 ago, cause: software
2025-04-29 05:53:37 [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
2025-04-29 05:53:37 [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
2025-04-29 05:53:37 [debug] Moves scheduled 25849, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 782, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=5, max=662, frequency (Hz): min=1284, max=15625
Sync err accum 86, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2225713704 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 05:53:37 [debug] Driver 0: pos -9593, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15682, writes 0 timeouts 0
2025-04-29 05:53:37 [debug] Last sensors broadcast 0x00000000 found 0 161 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 86, 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 380, adv 36341/37104
2025-04-29 05:53:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10350, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2268
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:53:37 [info] currentZPosition:0.00507
2025-04-29 05:53:38 [debug] Stopped at height 0.004 mm
2025-04-29 05:53:38 [debug] Diagnostics for board 50:
2025-04-29 05:53:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:53:38 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:41:29 ago, cause: software
2025-04-29 05:53:38 [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
2025-04-29 05:53:38 [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
2025-04-29 05:53:38 [debug] Moves scheduled 25853, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 278, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=644, frequency (Hz): min=1428, max=15306
Sync err accum 90, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2224535708 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 05:53:38 [debug] Driver 0: pos -9599, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18459, writes 0 timeouts 0
2025-04-29 05:53:38 [debug] Last sensors broadcast 0x00000000 found 0 233 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 94, 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 367, adv 36263/37117
2025-04-29 05:53:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10365, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:53:38 [info] currentZPosition:0.00447
2025-04-29 05:53:40 [debug] Stopped at height 0.005 mm
2025-04-29 05:53:40 [debug] Diagnostics for board 50:
2025-04-29 05:53:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:53:40 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:41:31 ago, cause: software
2025-04-29 05:53:40 [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
2025-04-29 05:53:40 [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
2025-04-29 05:53:40 [debug] Moves scheduled 25857, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=540, frequency (Hz): min=1572, max=15306
Sync err accum 90, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2223513459 ticks, 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
2025-04-29 05:53:40 [debug] Driver 0: pos -9596, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15793, writes 0 timeouts 0
2025-04-29 05:53:40 [debug] Last sensors broadcast 0x00000000 found 0 98 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 91, 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 438, adv 35798/37126
2025-04-29 05:53:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10377, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2267
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:53:40 [info] currentZPosition:0.00487
2025-04-29 05:53:41 [debug] Stopped at height 0.004 mm
2025-04-29 05:53:41 [debug] Diagnostics for board 50:
2025-04-29 05:53:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:53:41 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:41:32 ago, cause: software
2025-04-29 05:53:41 [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
2025-04-29 05:53:41 [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
2025-04-29 05:53:41 [debug] Moves scheduled 25861, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 164, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=446, frequency (Hz): min=1633, max=15306
Sync err accum 85, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2222325296 ticks, 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
2025-04-29 05:53:41 [debug] Driver 0: pos -9606, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18451, writes 0 timeouts 0
2025-04-29 05:53:41 [debug] Last sensors broadcast 0x00000000 found 0 178 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 97, 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 390, adv 36128/37150
2025-04-29 05:53:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10408, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:53:41 [info] currentZPosition:0.00388
2025-04-29 05:53:42 [debug] Stopped at height 0.005 mm
2025-04-29 05:53:42 [debug] Diagnostics for board 50:
2025-04-29 05:53:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:53:42 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.3%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:41:34 ago, cause: software
2025-04-29 05:53:42 [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
2025-04-29 05:53:42 [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
2025-04-29 05:53:42 [debug] Moves scheduled 25865, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 642, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=512, frequency (Hz): min=1399, max=26785
Sync err accum 77, peak jitter -2/-1, peak Rx delay 194, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2221327362 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, ma
2025-04-29 05:53:42 [debug] Driver 0: pos -9591, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15420, writes 0 timeouts 0
2025-04-29 05:53:42 [debug] Last sensors broadcast 0x00000000 found 0 10 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 89, 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 679, adv 36018/37061
2025-04-29 05:53:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10346, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:53:43 [info] currentZPosition:0.00537
2025-04-29 05:53:43 [debug] Stopped at height 0.004 mm
2025-04-29 05:53:44 [debug] Stopped at height 0.005 mm
2025-04-29 05:53:44 [debug] Diagnostics for board 50:
2025-04-29 05:53:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:53:44 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:41:36 ago, cause: software
2025-04-29 05:53:44 [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
2025-04-29 05:53:44 [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
2025-04-29 05:53:44 [debug] Moves scheduled 25871, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=568, frequency (Hz): min=1353, max=15306
Sync err accum 60, peak jitter -3/0, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 2219936365 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:53:44 [debug] Driver 0: pos -9590, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 21986, writes 0 timeouts 0
2025-04-29 05:53:44 [debug] Last sensors broadcast 0x00000000 found 0 116 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 97, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36010/37156
2025-04-29 05:53:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2267
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10307, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4708, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:53:44 [info] currentZPosition:0.00547
2025-04-29 05:53:46 [debug] Stopped at height 0.005 mm
2025-04-29 05:53:46 [debug] Diagnostics for board 50:
2025-04-29 05:53:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:53:46 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:41:37 ago, cause: software
2025-04-29 05:53:46 [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
2025-04-29 05:53:46 [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
2025-04-29 05:53:46 [debug] Moves scheduled 25875, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=712, frequency (Hz): min=1111, max=15306
Sync err accum 73, peak jitter 0/3, peak Rx delay 185, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 2218897106 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:53:46 [debug] Driver 0: pos -9597, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16188, writes 0 timeouts 0
2025-04-29 05:53:46 [debug] Last sensors broadcast 0x00000000 found 0 1 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 90, 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 705, adv 36207/37070
2025-04-29 05:53:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2268
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10363, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:53:46 [info] currentZPosition:0.00477
2025-04-29 05:53:47 [debug] Stopped at height 0.005 mm
2025-04-29 05:53:47 [debug] Diagnostics for board 50:
2025-04-29 05:53:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:53:47 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:41:39 ago, cause: software
2025-04-29 05:53:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 05:53:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 05:53:47 [debug] Moves scheduled 25879, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 168, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=573, frequency (Hz): min=1388, max=15625
Sync err accum 90, peak jitter 1/3, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2217735070 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max 
2025-04-29 05:53:47 [debug] Driver 0: pos -9594, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18190, writes 0 timeouts 0
2025-04-29 05:53:47 [debug] Last sensors broadcast 0x00000000 found 0 50 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 91, 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 369, adv 35902/37087
2025-04-29 05:53:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10343, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2267
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:53:47 [info] currentZPosition:0.00507
2025-04-29 05:53:49 [debug] Stopped at height 0.005 mm
2025-04-29 05:53:49 [debug] Diagnostics for board 50:
2025-04-29 05:53:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:53:49 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:41:40 ago, cause: software
2025-04-29 05:53:49 [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
2025-04-29 05:53:49 [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
2025-04-29 05:53:49 [debug] Moves scheduled 25883, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 188, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=636, frequency (Hz): min=1258, max=15306
Sync err accum 102, peak jitter 1/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 2216689738 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:53:49 [debug] Driver 0: pos -9600, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16118, writes 0 timeouts 0
2025-04-29 05:53:49 [debug] Last sensors broadcast 0x00000000 found 0 195 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 95, 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 390, adv 35565/37117
2025-04-29 05:53:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10389, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:53:49 [info] currentZPosition:0.00457
2025-04-29 05:53:50 [debug] Stopped at height 0.006 mm
2025-04-29 05:53:50 [debug] Diagnostics for board 50:
2025-04-29 05:53:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:53:50 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:41:41 ago, cause: software
2025-04-29 05:53:50 [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
2025-04-29 05:53:50 [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
2025-04-29 05:53:50 [debug] Moves scheduled 25887, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=752, frequency (Hz): min=1207, max=15625
Sync err accum 111, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2215543249 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max
2025-04-29 05:53:50 [debug] Driver 0: pos -9589, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17887, writes 0 timeouts 0
2025-04-29 05:53:50 [debug] Last sensors broadcast 0x00000000 found 0 222 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 85, 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 403, adv 35747/37109
2025-04-29 05:53:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10312, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2267
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:53:50 [info] currentZPosition:0.00567
2025-04-29 05:53:52 [debug] Stopped at height 0.005 mm
2025-04-29 05:53:52 [debug] Diagnostics for board 50:
2025-04-29 05:53:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:53:52 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:41:43 ago, cause: software
2025-04-29 05:53:52 [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
2025-04-29 05:53:52 [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
2025-04-29 05:53:52 [debug] Moves scheduled 25891, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=657, frequency (Hz): min=1439, max=15306
Sync err accum 114, peak jitter 0/1, peak Rx delay 199, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2214492524 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max
2025-04-29 05:53:52 [debug] Driver 0: pos -9600, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16334, writes 0 timeouts 0
2025-04-29 05:53:52 [debug] Last sensors broadcast 0x00000000 found 0 125 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 93, 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 398, adv 35838/37118
2025-04-29 05:53:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10377, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:53:52 [info] currentZPosition:0.00457
2025-04-29 05:53:53 [debug] Stopped at height 0.005 mm
2025-04-29 05:53:53 [debug] Diagnostics for board 50:
2025-04-29 05:53:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:53:53 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:41:44 ago, cause: software
2025-04-29 05:53:53 [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
2025-04-29 05:53:53 [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
2025-04-29 05:53:53 [debug] Moves scheduled 25895, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=728, frequency (Hz): min=1286, max=15306
Sync err accum 111, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2213339149 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatu
2025-04-29 05:53:53 [debug] Driver 0: pos -9593, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18013, writes 0 timeouts 0
2025-04-29 05:53:53 [debug] Last sensors broadcast 0x00000000 found 0 161 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 87, 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 395, adv 35679/37131
2025-04-29 05:53:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10322, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:53:53 [info] currentZPosition:0.00527
2025-04-29 05:53:54 [debug] Stopped at height 0.005 mm
2025-04-29 05:53:54 [debug] Diagnostics for board 50:
2025-04-29 05:53:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:53:54 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:41:46 ago, cause: software
2025-04-29 05:53:54 [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
2025-04-29 05:53:54 [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
2025-04-29 05:53:54 [debug] Moves scheduled 25899, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=556, frequency (Hz): min=628, max=15306
Sync err accum 106, peak jitter -1/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 4294967244 ticks, disabled, CC0 mismatch!!, next step interrupt due in 2212296163 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU 
2025-04-29 05:53:54 [debug] Driver 0: pos -9600, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16098, writes 11 timeouts 1
2025-04-29 05:53:54 [debug] Last sensors broadcast 0x00000000 found 0 51 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 95, send timeouts 0, received 22, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 35978/37102
2025-04-29 05:53:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10365, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:53:55 [info] currentZPosition:0.00457
2025-04-29 05:53:56 [debug] Stopped at height 0.004 mm
2025-04-29 05:53:56 [debug] Diagnostics for board 50:
2025-04-29 05:53:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:53:56 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:41:47 ago, cause: software
2025-04-29 05:53:56 [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
2025-04-29 05:53:56 [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
2025-04-29 05:53:56 [debug] Moves scheduled 25903, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=744, frequency (Hz): min=1138, max=15625
Sync err accum 91, peak jitter -2/-1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 2211126374 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 05:53:56 [debug] Driver 0: pos -9601, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18219, writes 0 timeouts 0
2025-04-29 05:53:56 [debug] Last sensors broadcast 0x00000000 found 0 111 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 94, 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 378, adv 36259/37111
2025-04-29 05:53:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10363, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:53:56 [info] currentZPosition:0.00447
2025-04-29 05:53:57 [debug] Stopped at height 0.005 mm
2025-04-29 05:53:57 [debug] Diagnostics for board 50:
2025-04-29 05:53:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:53:57 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:41:49 ago, cause: software
2025-04-29 05:53:57 [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
2025-04-29 05:53:57 [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
2025-04-29 05:53:57 [debug] Moves scheduled 25907, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=668, frequency (Hz): min=1243, max=15306
Sync err accum 79, peak jitter -3/-1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2210117615 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, ma
2025-04-29 05:53:57 [debug] Driver 0: pos -9592, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15624, writes 0 timeouts 0
2025-04-29 05:53:57 [debug] Last sensors broadcast 0x00000000 found 0 207 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 85, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 36165/37111
2025-04-29 05:53:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2268
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10321, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4707, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:53:58 [info] currentZPosition:0.00547
2025-04-29 05:53:59 [debug] Stopped at height 0.004 mm
2025-04-29 05:53:59 [debug] Diagnostics for board 50:
2025-04-29 05:53:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:53:59 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:41:50 ago, cause: software
2025-04-29 05:53:59 [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
2025-04-29 05:53:59 [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
2025-04-29 05:53:59 [debug] Moves scheduled 25911, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=746, frequency (Hz): min=1175, max=15306
Sync err accum 58, peak jitter -4/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2208933444 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatu
2025-04-29 05:53:59 [debug] Driver 0: pos -9602, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18522, writes 0 timeouts 0
2025-04-29 05:53:59 [debug] Last sensors broadcast 0x00000000 found 0 36 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 96, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36146/37084
2025-04-29 05:53:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10386, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:53:59 [info] currentZPosition:0.00447
2025-04-29 05:54:00 [debug] Stopped at height 0.005 mm
2025-04-29 05:54:00 [debug] Diagnostics for board 50:
2025-04-29 05:54:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:54:00 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.8%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:41:52 ago, cause: software
2025-04-29 05:54:00 [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
2025-04-29 05:54:00 [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
2025-04-29 05:54:00 [debug] Moves scheduled 25915, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=621, frequency (Hz): min=485, max=15306
Sync err accum 72, peak jitter 0/4, peak Rx delay 209, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2207917362 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, curr
2025-04-29 05:54:00 [debug] Driver 0: pos -9594, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15729, writes 11 timeouts 1
2025-04-29 05:54:00 [debug] Last sensors broadcast 0x00000000 found 0 140 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 88, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 35567/37131
2025-04-29 05:54:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10313, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:54:00 [info] currentZPosition:0.00527
2025-04-29 05:54:02 [debug] Stopped at height 0.005 mm
2025-04-29 05:54:02 [debug] Diagnostics for board 50:
2025-04-29 05:54:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:54:02 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:41:53 ago, cause: software
2025-04-29 05:54:02 [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
2025-04-29 05:54:02 [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
2025-04-29 05:54:02 [debug] Moves scheduled 25919, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 164, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=776, frequency (Hz): min=1175, max=15306
Sync err accum 86, peak jitter 1/2, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2206755788 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max 
2025-04-29 05:54:02 [debug] Driver 0: pos -9593, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18234, writes 0 timeouts 0
2025-04-29 05:54:02 [debug] Last sensors broadcast 0x00000000 found 0 189 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 89, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36009/37115
2025-04-29 05:54:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2267
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10329, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:54:02 [info] currentZPosition:0.00537
2025-04-29 05:54:03 [debug] Stopped at height 0.005 mm
2025-04-29 05:54:03 [debug] Diagnostics for board 50:
2025-04-29 05:54:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:54:03 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.2%
Owned mutexes:
Last reset 16:41:55 ago, cause: software
2025-04-29 05:54:03 [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
2025-04-29 05:54:03 [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
2025-04-29 05:54:03 [debug] Moves scheduled 25923, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 241, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=578, frequency (Hz): min=1260, max=15306
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 2205719943 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:54:03 [debug] Driver 0: pos -9597, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16089, writes 0 timeouts 0
2025-04-29 05:54:03 [debug] Last sensors broadcast 0x00000000 found 0 72 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 90, 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 395, adv 35818/37073
2025-04-29 05:54:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10370, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:54:03 [info] currentZPosition:0.00497
2025-04-29 05:54:05 [debug] Stopped at height 0.004 mm
2025-04-29 05:54:05 [debug] Diagnostics for board 50:
2025-04-29 05:54:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:54:05 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.8%
Owned mutexes:
Last reset 16:41:56 ago, cause: software
2025-04-29 05:54:05 [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
2025-04-29 05:54:05 [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
2025-04-29 05:54:05 [debug] Moves scheduled 25927, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=558, frequency (Hz): min=1479, max=15306
Sync err accum 94, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2204542506 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max 
2025-04-29 05:54:05 [debug] Driver 0: pos -9604, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18362, writes 0 timeouts 0
2025-04-29 05:54:05 [debug] Last sensors broadcast 0x00000000 found 0 140 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 100, 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 425, adv 35926/37089
2025-04-29 05:54:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10400, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:54:05 [info] currentZPosition:0.00427
2025-04-29 05:54:06 [debug] Stopped at height 0.005 mm
2025-04-29 05:54:06 [debug] Diagnostics for board 50:
2025-04-29 05:54:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:54:06 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.1%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:41:57 ago, cause: software
2025-04-29 05:54:06 [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
2025-04-29 05:54:06 [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
2025-04-29 05:54:06 [debug] Moves scheduled 25931, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 342, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=664, frequency (Hz): min=1269, max=15306
Sync err accum 93, peak jitter -1/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 2203535439 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:54:06 [debug] Driver 0: pos -9594, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15612, writes 0 timeouts 0
2025-04-29 05:54:06 [debug] Last sensors broadcast 0x00000000 found 0 232 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 87, 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 460, adv 36054/37081
2025-04-29 05:54:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10327, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:54:06 [info] currentZPosition:0.00527
2025-04-29 05:54:08 [debug] Stopped at height 0.005 mm
2025-04-29 05:54:08 [debug] Diagnostics for board 50:
2025-04-29 05:54:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:54:08 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:41:59 ago, cause: software
2025-04-29 05:54:08 [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
2025-04-29 05:54:08 [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
2025-04-29 05:54:08 [debug] Moves scheduled 25935, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=574, frequency (Hz): min=1479, max=15306
Sync err accum 89, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2202362803 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max
2025-04-29 05:54:08 [debug] Driver 0: pos -9598, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18419, writes 0 timeouts 0
2025-04-29 05:54:08 [debug] Last sensors broadcast 0x00000000 found 0 49 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 95, 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 402, adv 35806/37098
2025-04-29 05:54:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10348, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:54:08 [info] currentZPosition:0.00487
2025-04-29 05:54:09 [debug] Stopped at height 0.006 mm
2025-04-29 05:54:09 [debug] Diagnostics for board 50:
2025-04-29 05:54:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:54:09 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:42:00 ago, cause: software
2025-04-29 05:54:09 [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
2025-04-29 05:54:09 [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
2025-04-29 05:54:09 [debug] Moves scheduled 25939, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 345, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=616, frequency (Hz): min=1467, max=15306
Sync err accum 79, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 2201347220 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:54:09 [debug] Driver 0: pos -9589, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15735, writes 0 timeouts 0
2025-04-29 05:54:09 [debug] Last sensors broadcast 0x00000000 found 0 149 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 84, 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 372, adv 36214/37118
2025-04-29 05:54:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2268
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10300, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:54:09 [info] currentZPosition:0.00577
2025-04-29 05:54:11 [debug] Stopped at height 0.005 mm
2025-04-29 05:54:11 [debug] Diagnostics for board 50:
2025-04-29 05:54:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:54:11 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:42:02 ago, cause: software
2025-04-29 05:54:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 05:54:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 05:54:11 [debug] Moves scheduled 25943, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=616, frequency (Hz): min=1279, max=15306
Sync err accum 65, peak jitter -3/-1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2200171907 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, ma
2025-04-29 05:54:11 [debug] Driver 0: pos -9597, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18427, writes 0 timeouts 0
2025-04-29 05:54:11 [debug] Last sensors broadcast 0x00000000 found 0 218 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 89, send timeouts 0, received 22, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 35660/37111
2025-04-29 05:54:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2269
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10329, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:54:11 [info] currentZPosition:0.00497
2025-04-29 05:54:12 [debug] Stopped at height 0.005 mm
2025-04-29 05:54:12 [debug] Diagnostics for board 50:
2025-04-29 05:54:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:54:12 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:42:03 ago, cause: software
2025-04-29 05:54:12 [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
2025-04-29 05:54:12 [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
2025-04-29 05:54:12 [debug] Moves scheduled 25947, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=570, frequency (Hz): min=1121, max=15306
Sync err accum 67, peak jitter -3/3, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2199145640 ticks, 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
2025-04-29 05:54:12 [debug] Driver 0: pos -9596, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15987, writes 0 timeouts 0
2025-04-29 05:54:12 [debug] Last sensors broadcast 0x00000000 found 0 88 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 90, 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 389, adv 35589/37150
2025-04-29 05:54:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10334, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:54:12 [info] currentZPosition:0.00507
2025-04-29 05:54:14 [debug] Stopped at height 0.005 mm
2025-04-29 05:54:14 [debug] Diagnostics for board 50:
2025-04-29 05:54:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:54:14 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:42:05 ago, cause: software
2025-04-29 05:54:14 [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
2025-04-29 05:54:14 [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
2025-04-29 05:54:14 [debug] Moves scheduled 25951, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 893, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=670, frequency (Hz): min=1356, max=15306
Sync err accum 77, peak jitter 1/2, peak Rx delay 184, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2197972983 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max 
2025-04-29 05:54:14 [debug] Driver 0: pos -9600, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18356, writes 0 timeouts 0
2025-04-29 05:54:14 [debug] Last sensors broadcast 0x00000000 found 0 150 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 97, 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 380, adv 36336/37096
2025-04-29 05:54:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10353, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:54:14 [info] currentZPosition:0.00467
2025-04-29 05:54:15 [debug] Stopped at height 0.005 mm
2025-04-29 05:54:15 [debug] Diagnostics for board 50:
2025-04-29 05:54:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:54:15 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.9%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:42:06 ago, cause: software
2025-04-29 05:54:15 [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
2025-04-29 05:54:15 [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
2025-04-29 05:54:15 [debug] Moves scheduled 25955, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=517, frequency (Hz): min=1420, max=15306
Sync err accum 81, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2196956263 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.4C, max 
2025-04-29 05:54:15 [debug] Driver 0: pos -9594, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15742, writes 0 timeouts 0
2025-04-29 05:54:15 [debug] Last sensors broadcast 0x00000000 found 0 6 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 87, 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 386, adv 35799/37124
2025-04-29 05:54:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10317, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:54:15 [info] currentZPosition:0.00527
2025-04-29 05:54:16 [debug] Stopped at height 0.005 mm
2025-04-29 05:54:16 [debug] Diagnostics for board 50:
2025-04-29 05:54:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:54:16 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:42:08 ago, cause: software
2025-04-29 05:54:16 [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
2025-04-29 05:54:16 [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
2025-04-29 05:54:16 [debug] Moves scheduled 25959, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=580, frequency (Hz): min=545, max=15306
Sync err accum 81, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2195797567 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.4C, max 
2025-04-29 05:54:16 [debug] Driver 0: pos -9594, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18187, writes 11 timeouts 1
2025-04-29 05:54:16 [debug] Last sensors broadcast 0x00000000 found 0 52 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 90, 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 393, adv 36167/37096
2025-04-29 05:54:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10317, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:54:17 [info] currentZPosition:0.00527
2025-04-29 05:54:18 [debug] Stopped at height 0.005 mm
2025-04-29 05:54:18 [debug] Diagnostics for board 50:
2025-04-29 05:54:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:54:18 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:42:09 ago, cause: software
2025-04-29 05:54:18 [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
2025-04-29 05:54:18 [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
2025-04-29 05:54:18 [debug] Moves scheduled 25963, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=558, frequency (Hz): min=1275, max=15306
Sync err accum 79, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 2194762594 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 05:54:18 [debug] Driver 0: pos -9596, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16001, writes 0 timeouts 0
2025-04-29 05:54:18 [debug] Last sensors broadcast 0x00000000 found 0 180 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 91, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 35951/37138
2025-04-29 05:54:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10329, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:54:18 [info] currentZPosition:0.00507
2025-04-29 05:54:19 [debug] Stopped at height 0.006 mm
2025-04-29 05:54:19 [debug] Diagnostics for board 50:
2025-04-29 05:54:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:54:19 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:42:11 ago, cause: software
2025-04-29 05:54:19 [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
2025-04-29 05:54:19 [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
2025-04-29 05:54:19 [debug] Moves scheduled 25967, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 407, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=617, frequency (Hz): min=1485, max=15306
Sync err accum 74, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2193613705 ticks, 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
2025-04-29 05:54:19 [debug] Driver 0: pos -9590, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18007, writes 0 timeouts 0
2025-04-29 05:54:19 [debug] Last sensors broadcast 0x00000000 found 0 212 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 87, 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 360, adv 36057/37123
2025-04-29 05:54:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10334, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2268
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:54:20 [info] currentZPosition:0.00567
2025-04-29 05:54:21 [debug] Stopped at height 0.005 mm
2025-04-29 05:54:21 [debug] Diagnostics for board 50:
2025-04-29 05:54:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:54:21 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:42:12 ago, cause: software
2025-04-29 05:54:21 [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
2025-04-29 05:54:21 [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
2025-04-29 05:54:21 [debug] Moves scheduled 25971, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=602, frequency (Hz): min=1559, max=15306
Sync err accum 64, peak jitter -2/-1, peak Rx delay 205, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 2192570430 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 05:54:21 [debug] Driver 0: pos -9599, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16265, writes 0 timeouts 0
2025-04-29 05:54:21 [debug] Last sensors broadcast 0x00000000 found 0 104 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 92, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36129/37154
2025-04-29 05:54:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10393, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:54:21 [info] currentZPosition:0.00477
2025-04-29 05:54:22 [debug] Stopped at height 0.005 mm
2025-04-29 05:54:22 [debug] Diagnostics for board 50:
2025-04-29 05:54:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:54:22 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:42:14 ago, cause: software
2025-04-29 05:54:22 [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
2025-04-29 05:54:22 [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
2025-04-29 05:54:22 [debug] Moves scheduled 25975, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=504, frequency (Hz): min=1412, max=30000
Sync err accum 66, peak jitter -2/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2191408399 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max
2025-04-29 05:54:22 [debug] Driver 0: pos -9596, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18117, writes 0 timeouts 0
2025-04-29 05:54:22 [debug] Last sensors broadcast 0x00000000 found 0 153 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 92, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 35902/37130
2025-04-29 05:54:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2268
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10336, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4696, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:54:22 [info] currentZPosition:0.00507
2025-04-29 05:54:24 [debug] Stopped at height 0.006 mm
2025-04-29 05:54:24 [debug] Diagnostics for board 50:
2025-04-29 05:54:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:54:24 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.0%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:42:15 ago, cause: software
2025-04-29 05:54:24 [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
2025-04-29 05:54:24 [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
2025-04-29 05:54:24 [debug] Moves scheduled 25979, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=564, frequency (Hz): min=1141, max=15306
Sync err accum 73, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2190389064 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max 
2025-04-29 05:54:24 [debug] Driver 0: pos -9592, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15776, writes 0 timeouts 0
2025-04-29 05:54:24 [debug] Last sensors broadcast 0x00000000 found 0 11 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 87, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36296/37115
2025-04-29 05:54:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2268
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10339, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:54:24 [info] currentZPosition:0.00557
2025-04-29 05:54:25 [debug] Stopped at height 0.005 mm
2025-04-29 05:54:25 [debug] Diagnostics for board 50:
2025-04-29 05:54:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:54:25 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:42:17 ago, cause: software
2025-04-29 05:54:25 [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
2025-04-29 05:54:25 [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
2025-04-29 05:54:25 [debug] Moves scheduled 25983, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=520, frequency (Hz): min=1282, max=15306
Sync err accum 76, peak jitter 0/1, peak Rx delay 184, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2189209158 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max 
2025-04-29 05:54:25 [debug] Driver 0: pos -9601, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18510, writes 0 timeouts 0
2025-04-29 05:54:25 [debug] Last sensors broadcast 0x00000000 found 0 87 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 93, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 35841/37136
2025-04-29 05:54:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10380, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:54:25 [info] currentZPosition:0.00467
2025-04-29 05:54:27 [debug] Stopped at height 0.005 mm
2025-04-29 05:54:27 [debug] Diagnostics for board 50:
2025-04-29 05:54:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:54:27 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:42:18 ago, cause: software
2025-04-29 05:54:27 [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
2025-04-29 05:54:27 [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
2025-04-29 05:54:27 [debug] Moves scheduled 25987, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=690, frequency (Hz): min=1371, max=16666
Sync err accum 72, peak jitter -1/0, peak Rx delay 226, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2188191381 ticks, 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
2025-04-29 05:54:27 [debug] Driver 0: pos -9595, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15768, writes 0 timeouts 0
2025-04-29 05:54:27 [debug] Last sensors broadcast 0x00000000 found 0 193 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 87, 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 508, adv 35715/37124
2025-04-29 05:54:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10356, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:54:27 [info] currentZPosition:0.00527
2025-04-29 05:54:28 [debug] Stopped at height 0.005 mm
2025-04-29 05:54:28 [debug] Diagnostics for board 50:
2025-04-29 05:54:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:54:28 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:42:19 ago, cause: software
2025-04-29 05:54:28 [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
2025-04-29 05:54:28 [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
2025-04-29 05:54:28 [debug] Moves scheduled 25991, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=685, frequency (Hz): min=1048, max=15625
Sync err accum 66, peak jitter -1/0, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2187022233 ticks, 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
2025-04-29 05:54:28 [debug] Driver 0: pos -9596, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18283, writes 0 timeouts 0
2025-04-29 05:54:28 [debug] Last sensors broadcast 0x00000000 found 0 3 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 94, 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 376, adv 35743/37122
2025-04-29 05:54:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10367, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:54:28 [info] currentZPosition:0.00517
2025-04-29 05:54:30 [debug] Stopped at height 0.004 mm
2025-04-29 05:54:30 [debug] Diagnostics for board 50:
2025-04-29 05:54:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:54:30 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.2%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:42:21 ago, cause: software
2025-04-29 05:54:30 [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
2025-04-29 05:54:30 [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
2025-04-29 05:54:30 [debug] Moves scheduled 25995, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=736, frequency (Hz): min=1150, max=15306
Sync err accum 66, peak jitter -2/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2185974606 ticks, 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
2025-04-29 05:54:30 [debug] Driver 0: pos -9606, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16175, writes 0 timeouts 0
2025-04-29 05:54:30 [debug] Last sensors broadcast 0x00000000 found 0 150 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 99, 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 387, adv 35931/37084
2025-04-29 05:54:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10385, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:54:30 [info] currentZPosition:0.00427
2025-04-29 05:54:31 [debug] Stopped at height 0.005 mm
2025-04-29 05:54:31 [debug] Diagnostics for board 50:
2025-04-29 05:54:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:54:31 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:42:22 ago, cause: software
2025-04-29 05:54:31 [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
2025-04-29 05:54:31 [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
2025-04-29 05:54:31 [debug] Moves scheduled 25999, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 264, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=685, frequency (Hz): min=1315, max=15306
Sync err accum 79, peak jitter 1/3, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 2184818803 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:54:31 [debug] Driver 0: pos -9602, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17962, writes 0 timeouts 0
2025-04-29 05:54:31 [debug] Last sensors broadcast 0x00000000 found 0 190 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 96, 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 366, adv 36338/37170
2025-04-29 05:54:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10395, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:54:31 [info] currentZPosition:0.00467
2025-04-29 05:54:32 [debug] Stopped at height 0.006 mm
2025-04-29 05:54:32 [debug] Diagnostics for board 50:
2025-04-29 05:54:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:54:32 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.8%
Owned mutexes:
Last reset 16:42:24 ago, cause: software
2025-04-29 05:54:32 [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
2025-04-29 05:54:32 [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
2025-04-29 05:54:32 [debug] Moves scheduled 26003, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=37, max=626, frequency (Hz): min=762, max=15306
Sync err accum 86, peak jitter 1/2, peak Rx delay 191, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 2183819476 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:54:32 [debug] Driver 0: pos -9590, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15374, writes 11 timeouts 1
2025-04-29 05:54:32 [debug] Last sensors broadcast 0x00000000 found 0 19 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 85, 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 388, adv 36168/37102
2025-04-29 05:54:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2268
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10325, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:54:33 [info] currentZPosition:0.00586
2025-04-29 05:54:34 [debug] Stopped at height 0.005 mm
2025-04-29 05:54:34 [debug] Diagnostics for board 50:
2025-04-29 05:54:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:54:34 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:42:25 ago, cause: software
2025-04-29 05:54:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 05:54:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 05:54:34 [debug] Moves scheduled 26007, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=594, frequency (Hz): min=679, max=15306
Sync err accum 88, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 2182648363 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, curr
2025-04-29 05:54:34 [debug] Driver 0: pos -9597, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18420, writes 11 timeouts 1
2025-04-29 05:54:34 [debug] Last sensors broadcast 0x00000000 found 0 87 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 92, 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 776, adv 36259/37110
2025-04-29 05:54:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2269
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10324, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:54:34 [info] currentZPosition:0.00517
2025-04-29 05:54:35 [debug] Stopped at height 0.005 mm
2025-04-29 05:54:35 [debug] Diagnostics for board 50:
2025-04-29 05:54:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:54:35 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.2%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:42:27 ago, cause: software
2025-04-29 05:54:35 [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
2025-04-29 05:54:35 [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
2025-04-29 05:54:35 [debug] Moves scheduled 26011, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=669, frequency (Hz): min=528, max=15306
Sync err accum 88, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 2181614940 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:54:35 [debug] Driver 0: pos -9601, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15902, writes 11 timeouts 1
2025-04-29 05:54:35 [debug] Last sensors broadcast 0x00000000 found 0 210 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 91, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 402, adv 35625/37126
2025-04-29 05:54:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10380, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:54:36 [info] currentZPosition:0.00487
2025-04-29 05:54:37 [debug] Stopped at height 0.005 mm
2025-04-29 05:54:37 [debug] Diagnostics for board 50:
2025-04-29 05:54:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:54:37 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:42:28 ago, cause: software
2025-04-29 05:54:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 05:54:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 05:54:37 [debug] Moves scheduled 26015, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 349, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=458, frequency (Hz): min=646, max=15306
Sync err accum 81, peak jitter -2/0, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 2180450207 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:54:37 [debug] Driver 0: pos -9601, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18111, writes 11 timeouts 1
2025-04-29 05:54:37 [debug] Last sensors broadcast 0x00000000 found 0 14 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 96, 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 393, adv 36090/37124
2025-04-29 05:54:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10354, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:54:37 [info] currentZPosition:0.00487
2025-04-29 05:54:38 [debug] Stopped at height 0.005 mm
2025-04-29 05:54:38 [debug] Diagnostics for board 50:
2025-04-29 05:54:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:54:38 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.4%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:42:30 ago, cause: software
2025-04-29 05:54:38 [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
2025-04-29 05:54:38 [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
2025-04-29 05:54:38 [debug] Moves scheduled 26019, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=606, frequency (Hz): min=572, max=15306
Sync err accum 72, peak jitter -2/-1, peak Rx delay 189, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2179434814 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max
2025-04-29 05:54:38 [debug] Driver 0: pos -9597, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15628, writes 11 timeouts 1
2025-04-29 05:54:38 [debug] Last sensors broadcast 0x00000000 found 0 121 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 91, 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 424, adv 35802/37107
2025-04-29 05:54:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10365, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2268
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:54:38 [info] currentZPosition:0.00527
2025-04-29 05:54:40 [debug] Stopped at height 0.006 mm
2025-04-29 05:54:40 [debug] Diagnostics for board 50:
2025-04-29 05:54:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:54:40 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:42:31 ago, cause: software
2025-04-29 05:54:40 [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
2025-04-29 05:54:40 [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
2025-04-29 05:54:40 [debug] Moves scheduled 26023, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=626, frequency (Hz): min=1442, max=15306
Sync err accum 62, peak jitter -3/0, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2178289471 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max
2025-04-29 05:54:40 [debug] Driver 0: pos -9589, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17876, writes 0 timeouts 0
2025-04-29 05:54:40 [debug] Last sensors broadcast 0x00000000 found 0 144 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 85, 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 388, adv 36001/37103
2025-04-29 05:54:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2269
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10305, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4708, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:54:40 [info] currentZPosition:0.00606
2025-04-29 05:54:41 [debug] Stopped at height 0.006 mm
2025-04-29 05:54:41 [debug] Diagnostics for board 50:
2025-04-29 05:54:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:54:41 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:42:33 ago, cause: software
2025-04-29 05:54:41 [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
2025-04-29 05:54:41 [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
2025-04-29 05:54:41 [debug] Moves scheduled 26027, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 258, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=548, frequency (Hz): min=1412, max=15306
Sync err accum 73, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 2177251400 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:54:41 [debug] Driver 0: pos -9594, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16186, writes 0 timeouts 0
2025-04-29 05:54:41 [debug] Last sensors broadcast 0x00000000 found 0 28 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 88, 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 393, adv 36002/37108
2025-04-29 05:54:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10337, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:54:41 [info] currentZPosition:0.00557
2025-04-29 05:54:43 [debug] Stopped at height 0.006 mm
2025-04-29 05:54:43 [debug] Diagnostics for board 50:
2025-04-29 05:54:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:54:43 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:42:34 ago, cause: software
2025-04-29 05:54:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 05:54:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 05:54:43 [debug] Moves scheduled 26031, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=620, frequency (Hz): min=1482, max=15306
Sync err accum 75, peak jitter 0/1, peak Rx delay 198, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2176104454 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max 
2025-04-29 05:54:43 [debug] Driver 0: pos -9588, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18103, writes 0 timeouts 0
2025-04-29 05:54:43 [debug] Last sensors broadcast 0x00000000 found 0 61 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 85, 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 370, adv 35901/37118
2025-04-29 05:54:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10314, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2266
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:54:43 [info] currentZPosition:0.00616
2025-04-29 05:54:44 [debug] Stopped at height 0.005 mm
2025-04-29 05:54:44 [debug] Diagnostics for board 50:
2025-04-29 05:54:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:54:44 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:42:35 ago, cause: software
2025-04-29 05:54:44 [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
2025-04-29 05:54:44 [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
2025-04-29 05:54:44 [debug] Moves scheduled 26035, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=582, frequency (Hz): min=1536, max=15306
Sync err accum 74, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2175057465 ticks, 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
2025-04-29 05:54:44 [debug] Driver 0: pos -9598, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16235, writes 0 timeouts 0
2025-04-29 05:54:44 [debug] Last sensors broadcast 0x00000000 found 0 203 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 91, 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 349, adv 36201/37137
2025-04-29 05:54:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2267
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10350, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:54:44 [info] currentZPosition:0.00517
2025-04-29 05:54:46 [debug] Stopped at height 0.006 mm
2025-04-29 05:54:46 [debug] Diagnostics for board 50:
2025-04-29 05:54:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:54:46 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:42:37 ago, cause: software
2025-04-29 05:54:46 [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
2025-04-29 05:54:46 [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
2025-04-29 05:54:46 [debug] Moves scheduled 26039, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=600, frequency (Hz): min=1439, max=15306
Sync err accum 70, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2173916927 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max
2025-04-29 05:54:46 [debug] Driver 0: pos -9589, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17835, writes 0 timeouts 0
2025-04-29 05:54:46 [debug] Last sensors broadcast 0x00000000 found 0 225 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 86, 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 385, adv 35789/37145
2025-04-29 05:54:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2267
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10304, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:54:46 [info] currentZPosition:0.00606
2025-04-29 05:54:47 [debug] Stopped at height 0.005 mm
2025-04-29 05:54:47 [debug] Diagnostics for board 50:
2025-04-29 05:54:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:54:47 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.7%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:42:38 ago, cause: software
2025-04-29 05:54:47 [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
2025-04-29 05:54:47 [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
2025-04-29 05:54:47 [debug] Moves scheduled 26043, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=552, frequency (Hz): min=1602, max=15306
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 2172879477 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:54:47 [debug] Driver 0: pos -9595, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16071, writes 0 timeouts 0
2025-04-29 05:54:47 [debug] Last sensors broadcast 0x00000000 found 0 106 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 90, 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 375, adv 36334/37129
2025-04-29 05:54:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10335, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4707, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:54:47 [info] currentZPosition:0.00547
2025-04-29 05:54:49 [debug] Stopped at height 0.005 mm
2025-04-29 05:54:49 [debug] Diagnostics for board 50:
2025-04-29 05:54:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:54:49 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:42:40 ago, cause: software
2025-04-29 05:54:49 [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
2025-04-29 05:54:49 [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
2025-04-29 05:54:49 [debug] Moves scheduled 26047, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=541, frequency (Hz): min=1527, max=15000
Sync err accum 69, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2171712411 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max 
2025-04-29 05:54:49 [debug] Driver 0: pos -9597, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18306, writes 0 timeouts 0
2025-04-29 05:54:49 [debug] Last sensors broadcast 0x00000000 found 0 163 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 92, 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 456, adv 35668/37127
2025-04-29 05:54:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2269
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10354, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:54:49 [info] currentZPosition:0.00527
2025-04-29 05:54:50 [debug] Stopped at height 0.006 mm
2025-04-29 05:54:50 [debug] Diagnostics for board 50:
2025-04-29 05:54:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:54:50 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.7%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:42:41 ago, cause: software
2025-04-29 05:54:50 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 05:54:50 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 05:54:50 [debug] Moves scheduled 26051, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 304, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=477, frequency (Hz): min=1768, max=15306
Sync err accum 67, peak jitter -1/0, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2170691721 ticks, 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
2025-04-29 05:54:50 [debug] Driver 0: pos -9593, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15867, writes 0 timeouts 0
2025-04-29 05:54:50 [debug] Last sensors broadcast 0x00000000 found 0 24 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 88, send timeouts 0, received 22, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 35792/37118
2025-04-29 05:54:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10320, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:54:50 [info] currentZPosition:0.00567
2025-04-29 05:54:52 [debug] Stopped at height 0.004 mm
2025-04-29 05:54:52 [debug] Diagnostics for board 50:
2025-04-29 05:54:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:54:52 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:42:43 ago, cause: software
2025-04-29 05:54:52 [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
2025-04-29 05:54:52 [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
2025-04-29 05:54:52 [debug] Moves scheduled 26055, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=546, frequency (Hz): min=512, max=15625
Sync err accum 64, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2169500124 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max 
2025-04-29 05:54:52 [debug] Driver 0: pos -9609, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18572, writes 11 timeouts 1
2025-04-29 05:54:52 [debug] Last sensors broadcast 0x00000000 found 0 115 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 103, 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 386, adv 36250/37101
2025-04-29 05:54:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10421, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:54:52 [info] currentZPosition:0.00417
2025-04-29 05:54:52 [debug] Stopped at height 0.004 mm
2025-04-29 05:54:53 [debug] Stopped at height 0.004 mm
2025-04-29 05:54:53 [debug] Diagnostics for board 50:
2025-04-29 05:54:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:54:53 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.6%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:42:45 ago, cause: software
2025-04-29 05:54:53 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 05:54:53 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 05:54:53 [debug] Moves scheduled 26061, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 305, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=530, frequency (Hz): min=1616, max=15306
Sync err accum 68, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 2168230949 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:54:53 [debug] Driver 0: pos -9608, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 19743, writes 0 timeouts 0
2025-04-29 05:54:53 [debug] Last sensors broadcast 0x00000000 found 0 58 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 115, 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 808, adv 35977/37119
2025-04-29 05:54:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10409, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:54:53 [info] currentZPosition:0.00427
2025-04-29 05:54:55 [debug] Stopped at height 0.005 mm
2025-04-29 05:54:55 [debug] Diagnostics for board 50:
2025-04-29 05:54:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:54:55 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.8%
Owned mutexes:
Last reset 16:42:46 ago, cause: software
2025-04-29 05:54:55 [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
2025-04-29 05:54:55 [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
2025-04-29 05:54:55 [debug] Moves scheduled 26065, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=606, frequency (Hz): min=1396, max=15306
Sync err accum 70, peak jitter 0/1, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2167082612 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max 
2025-04-29 05:54:55 [debug] Driver 0: pos -9600, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17815, writes 0 timeouts 0
2025-04-29 05:54:55 [debug] Last sensors broadcast 0x00000000 found 0 87 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 93, 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 376, adv 36166/37132
2025-04-29 05:54:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10391, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:54:55 [info] currentZPosition:0.00507
2025-04-29 05:54:56 [debug] Stopped at height 0.005 mm
2025-04-29 05:54:56 [debug] Diagnostics for board 50:
2025-04-29 05:54:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:54:56 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.4%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:42:47 ago, cause: software
2025-04-29 05:54:56 [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
2025-04-29 05:54:56 [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
2025-04-29 05:54:56 [debug] Moves scheduled 26069, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 164, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=549, frequency (Hz): min=1404, max=15306
Sync err accum 66, peak jitter -1/0, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2166045949 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max
2025-04-29 05:54:56 [debug] Driver 0: pos -9604, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15951, writes 0 timeouts 0
2025-04-29 05:54:56 [debug] Last sensors broadcast 0x00000000 found 0 220 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 97, 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 387, adv 36145/37113
2025-04-29 05:54:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10424, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:54:56 [info] currentZPosition:0.00467
2025-04-29 05:54:58 [debug] Stopped at height 0.006 mm
2025-04-29 05:54:58 [debug] Diagnostics for board 50:
2025-04-29 05:54:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:54:58 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:42:49 ago, cause: software
2025-04-29 05:54:58 [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
2025-04-29 05:54:58 [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
2025-04-29 05:54:58 [debug] Moves scheduled 26073, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=545, frequency (Hz): min=1431, max=15306
Sync err accum 65, peak jitter -1/2, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2164918863 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max
2025-04-29 05:54:58 [debug] Driver 0: pos -9590, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17526, writes 0 timeouts 0
2025-04-29 05:54:58 [debug] Last sensors broadcast 0x00000000 found 0 221 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 85, 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 389, adv 36002/37097
2025-04-29 05:54:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10312, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:54:58 [info] currentZPosition:0.00606
2025-04-29 05:54:58 [debug] Stopped at height 0.005 mm
2025-04-29 05:54:59 [debug] Stopped at height 0.006 mm
2025-04-29 05:54:59 [debug] Diagnostics for board 50:
2025-04-29 05:54:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:54:59 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.8%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:42:51 ago, cause: software
2025-04-29 05:54:59 [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
2025-04-29 05:54:59 [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
2025-04-29 05:54:59 [debug] Moves scheduled 26079, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=569, frequency (Hz): min=1527, max=15306
Sync err accum 77, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 2163657528 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:54:59 [debug] Driver 0: pos -9593, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 19766, writes 0 timeouts 0
2025-04-29 05:54:59 [debug] Last sensors broadcast 0x00000000 found 0 154 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 108, 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 367, adv 35639/37151
2025-04-29 05:54:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10314, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:54:59 [info] currentZPosition:0.00596
2025-04-29 05:55:01 [debug] Stopped at height 0.005 mm
2025-04-29 05:55:01 [debug] Diagnostics for board 50:
2025-04-29 05:55:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:55:01 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:42:52 ago, cause: software
2025-04-29 05:55:01 [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
2025-04-29 05:55:01 [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
2025-04-29 05:55:01 [debug] Moves scheduled 26083, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=481, frequency (Hz): min=1807, max=15306
Sync err accum 79, peak jitter 0/1, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 2162477674 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:55:01 [debug] Driver 0: pos -9603, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18466, writes 0 timeouts 0
2025-04-29 05:55:01 [debug] Last sensors broadcast 0x00000000 found 0 227 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 96, send timeouts 0, received 22, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 35808/37161
2025-04-29 05:55:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10384, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:55:01 [info] currentZPosition:0.00497
2025-04-29 05:55:02 [debug] Stopped at height 0.005 mm
2025-04-29 05:55:02 [debug] Diagnostics for board 50:
2025-04-29 05:55:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:55:02 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:42:54 ago, cause: software
2025-04-29 05:55:02 [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
2025-04-29 05:55:02 [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
2025-04-29 05:55:02 [debug] Moves scheduled 26087, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=492, frequency (Hz): min=1648, max=15306
Sync err accum 75, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2161455608 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max
2025-04-29 05:55:02 [debug] Driver 0: pos -9600, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15797, writes 0 timeouts 0
2025-04-29 05:55:02 [debug] Last sensors broadcast 0x00000000 found 0 89 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 96, 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 369, adv 35885/37123
2025-04-29 05:55:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10370, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:55:02 [info] currentZPosition:0.00527
2025-04-29 05:55:04 [debug] Stopped at height 0.006 mm
2025-04-29 05:55:04 [debug] Diagnostics for board 50:
2025-04-29 05:55:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:55:04 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:42:55 ago, cause: software
2025-04-29 05:55:04 [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
2025-04-29 05:55:04 [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
2025-04-29 05:55:04 [debug] Moves scheduled 26091, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=526, frequency (Hz): min=1648, max=15306
Sync err accum 70, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2160307848 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max
2025-04-29 05:55:04 [debug] Driver 0: pos -9593, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17976, writes 0 timeouts 0
2025-04-29 05:55:04 [debug] Last sensors broadcast 0x00000000 found 0 120 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 85, 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 355, adv 35707/37116
2025-04-29 05:55:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10337, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:55:04 [info] currentZPosition:0.00596
2025-04-29 05:55:05 [debug] Stopped at height 0.005 mm
2025-04-29 05:55:05 [debug] Diagnostics for board 50:
2025-04-29 05:55:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:55:05 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:42:56 ago, cause: software
2025-04-29 05:55:05 [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
2025-04-29 05:55:05 [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
2025-04-29 05:55:05 [debug] Moves scheduled 26095, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=585, frequency (Hz): min=1482, max=15625
Sync err accum 61, peak jitter -2/-1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2159261907 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatu
2025-04-29 05:55:05 [debug] Driver 0: pos -9602, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16225, writes 0 timeouts 0
2025-04-29 05:55:05 [debug] Last sensors broadcast 0x00000000 found 0 17 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 95, 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 397, adv 36210/37107
2025-04-29 05:55:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10364, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:55:05 [info] currentZPosition:0.00507
2025-04-29 05:55:07 [debug] Stopped at height 0.006 mm
2025-04-29 05:55:07 [debug] Diagnostics for board 50:
2025-04-29 05:55:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:55:07 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:42:58 ago, cause: software
2025-04-29 05:55:07 [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
2025-04-29 05:55:07 [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
2025-04-29 05:55:07 [debug] Moves scheduled 26099, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=433, frequency (Hz): min=1851, max=15306
Sync err accum 70, peak jitter 0/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2158119101 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 05:55:07 [debug] Driver 0: pos -9592, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17774, writes 0 timeouts 0
2025-04-29 05:55:07 [debug] Last sensors broadcast 0x00000000 found 0 37 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 88, 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 369, adv 36258/37137
2025-04-29 05:55:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2266
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10334, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:55:07 [info] currentZPosition:0.00606
2025-04-29 05:55:08 [debug] Stopped at height 0.006 mm
2025-04-29 05:55:08 [debug] Diagnostics for board 50:
2025-04-29 05:55:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:55:08 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.6%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:42:59 ago, cause: software
2025-04-29 05:55:08 [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
2025-04-29 05:55:08 [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
2025-04-29 05:55:08 [debug] Moves scheduled 26103, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=553, frequency (Hz): min=1575, max=15306
Sync err accum 77, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2157081371 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max 
2025-04-29 05:55:08 [debug] Driver 0: pos -9597, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16123, writes 0 timeouts 0
2025-04-29 05:55:08 [debug] Last sensors broadcast 0x00000000 found 0 173 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 91, 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 361, adv 36365/37130
2025-04-29 05:55:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10338, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:55:08 [info] currentZPosition:0.00567
2025-04-29 05:55:10 [debug] Stopped at height 0.006 mm
2025-04-29 05:55:10 [debug] Diagnostics for board 50:
2025-04-29 05:55:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:55:10 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:43:01 ago, cause: software
2025-04-29 05:55:10 [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
2025-04-29 05:55:10 [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
2025-04-29 05:55:10 [debug] Moves scheduled 26107, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=598, frequency (Hz): min=1299, max=15306
Sync err accum 81, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2155923629 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 05:55:10 [debug] Driver 0: pos -9596, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18089, writes 0 timeouts 0
2025-04-29 05:55:10 [debug] Last sensors broadcast 0x00000000 found 0 215 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 90, 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 383, adv 36124/37150
2025-04-29 05:55:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2269
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10334, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:55:10 [info] currentZPosition:0.00577
2025-04-29 05:55:11 [debug] Stopped at height 0.006 mm
2025-04-29 05:55:11 [debug] Diagnostics for board 50:
2025-04-29 05:55:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:55:11 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.6%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:43:02 ago, cause: software
2025-04-29 05:55:11 [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
2025-04-29 05:55:11 [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
2025-04-29 05:55:11 [debug] Moves scheduled 26111, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=537, frequency (Hz): min=1527, max=15625
Sync err accum 79, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 2154911513 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:55:11 [debug] Driver 0: pos -9590, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15735, writes 0 timeouts 0
2025-04-29 05:55:11 [debug] Last sensors broadcast 0x00000000 found 0 64 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 85, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 35826/37162
2025-04-29 05:55:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10320, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2268
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:55:11 [info] currentZPosition:0.00636
2025-04-29 05:55:13 [debug] Stopped at height 0.007 mm
2025-04-29 05:55:13 [debug] Diagnostics for board 50:
2025-04-29 05:55:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:55:13 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:43:04 ago, cause: software
2025-04-29 05:55:13 [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
2025-04-29 05:55:13 [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
2025-04-29 05:55:13 [debug] Moves scheduled 26115, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 164, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=428, frequency (Hz): min=1599, max=15306
Sync err accum 75, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2153756688 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max
2025-04-29 05:55:13 [debug] Driver 0: pos -9588, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18116, writes 0 timeouts 0
2025-04-29 05:55:13 [debug] Last sensors broadcast 0x00000000 found 0 105 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 85, 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 374, adv 35968/37127
2025-04-29 05:55:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2268
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10311, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:55:13 [info] currentZPosition:0.00656
2025-04-29 05:55:14 [debug] Stopped at height 0.006 mm
2025-04-29 05:55:14 [debug] Diagnostics for board 50:
2025-04-29 05:55:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:55:14 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.1%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:43:05 ago, cause: software
2025-04-29 05:55:14 [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
2025-04-29 05:55:14 [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
2025-04-29 05:55:14 [debug] Moves scheduled 26119, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=530, frequency (Hz): min=1497, max=15306
Sync err accum 63, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2152727928 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, ma
2025-04-29 05:55:14 [debug] Driver 0: pos -9590, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16060, writes 0 timeouts 0
2025-04-29 05:55:14 [debug] Last sensors broadcast 0x00000000 found 0 226 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 84, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36088/37124
2025-04-29 05:55:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2267
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10318, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4709, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:55:14 [info] currentZPosition:0.00636
2025-04-29 05:55:15 [debug] Stopped at height 0.006 mm
2025-04-29 05:55:15 [debug] Diagnostics for board 50:
2025-04-29 05:55:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:55:15 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:43:07 ago, cause: software
2025-04-29 05:55:15 [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
2025-04-29 05:55:15 [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
2025-04-29 05:55:15 [debug] Moves scheduled 26123, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=441, frequency (Hz): min=1833, max=15306
Sync err accum 65, peak jitter -1/1, peak Rx delay 189, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 2151557763 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:55:15 [debug] Driver 0: pos -9597, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18382, writes 0 timeouts 0
2025-04-29 05:55:15 [debug] Last sensors broadcast 0x00000000 found 0 36 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 92, 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 381, adv 35783/37111
2025-04-29 05:55:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10366, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4709, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:55:16 [info] currentZPosition:0.00567
2025-04-29 05:55:17 [debug] Stopped at height 0.006 mm
2025-04-29 05:55:17 [debug] Diagnostics for board 50:
2025-04-29 05:55:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:55:17 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:43:08 ago, cause: software
2025-04-29 05:55:17 [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
2025-04-29 05:55:17 [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
2025-04-29 05:55:17 [debug] Moves scheduled 26127, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 293, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=512, frequency (Hz): min=576, max=15306
Sync err accum 68, peak jitter -1/1, peak Rx delay 204, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 2150538019 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:55:17 [debug] Driver 0: pos -9593, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15774, writes 11 timeouts 1
2025-04-29 05:55:17 [debug] Last sensors broadcast 0x00000000 found 0 146 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 83, 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 402, adv 36324/37080
2025-04-29 05:55:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10322, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:55:17 [info] currentZPosition:0.00606
2025-04-29 05:55:18 [debug] Stopped at height 0.005 mm
2025-04-29 05:55:18 [debug] Diagnostics for board 50:
2025-04-29 05:55:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:55:18 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:43:10 ago, cause: software
2025-04-29 05:55:18 [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
2025-04-29 05:55:18 [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
2025-04-29 05:55:18 [debug] Moves scheduled 26131, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 368, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=520, frequency (Hz): min=1549, max=15306
Sync err accum 65, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2149370442 ticks, 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
2025-04-29 05:55:18 [debug] Driver 0: pos -9599, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18229, writes 0 timeouts 0
2025-04-29 05:55:18 [debug] Last sensors broadcast 0x00000000 found 0 202 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 92, 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 374, adv 35668/37118
2025-04-29 05:55:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10371, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:55:19 [info] currentZPosition:0.00547
2025-04-29 05:55:20 [debug] Stopped at height 0.006 mm
2025-04-29 05:55:20 [debug] Diagnostics for board 50:
2025-04-29 05:55:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:55:20 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.1%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:43:11 ago, cause: software
2025-04-29 05:55:20 [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
2025-04-29 05:55:20 [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
2025-04-29 05:55:20 [debug] Moves scheduled 26135, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=676, frequency (Hz): min=1363, max=15306
Sync err accum 69, peak jitter -2/2, peak Rx delay 185, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2148150416 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max
2025-04-29 05:55:20 [debug] Driver 0: pos -9596, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20409, writes 0 timeouts 0
2025-04-29 05:55:20 [debug] Last sensors broadcast 0x00000000 found 0 193 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 105, 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 373, adv 35759/37109
2025-04-29 05:55:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10333, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:55:21 [info] currentZPosition:0.00577
2025-04-29 05:55:23 [debug] Stopped at height 0.006 mm
2025-04-29 05:55:23 [debug] Diagnostics for board 50:
2025-04-29 05:55:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:55:23 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,3.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:43:14 ago, cause: software
2025-04-29 05:55:23 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 05:55:23 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 05:55:23 [debug] Moves scheduled 26139, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 327, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=528, frequency (Hz): min=762, max=15306
Sync err accum 82, peak jitter 0/3, peak Rx delay 198, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 2146181919 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, curr
2025-04-29 05:55:23 [debug] Driver 0: pos -9591, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 30256, writes 11 timeouts 1
2025-04-29 05:55:23 [debug] Last sensors broadcast 0x00000000 found 0 205 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 133, 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 439, adv 36285/37051
2025-04-29 05:55:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10344, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4707, no error
Lin: Encoder reverse polarity: no, raw count 2266
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:55:23 [info] currentZPosition:0.00626
2025-04-29 05:55:24 [debug] Stopped at height 0.005 mm
2025-04-29 05:55:24 [debug] Diagnostics for board 50:
2025-04-29 05:55:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:55:24 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:43:15 ago, cause: software
2025-04-29 05:55:24 [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
2025-04-29 05:55:24 [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
2025-04-29 05:55:24 [debug] Moves scheduled 26143, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 259, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=550, frequency (Hz): min=1366, max=15306
Sync err accum 82, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2145133251 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max
2025-04-29 05:55:24 [debug] Driver 0: pos -9603, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16237, writes 0 timeouts 0
2025-04-29 05:55:24 [debug] Last sensors broadcast 0x00000000 found 0 102 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 97, 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 387, adv 36019/37124
2025-04-29 05:55:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10358, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:55:24 [info] currentZPosition:0.00507
2025-04-29 05:55:26 [debug] Stopped at height 0.004 mm
2025-04-29 05:55:26 [debug] Diagnostics for board 50:
2025-04-29 05:55:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:55:26 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:43:17 ago, cause: software
2025-04-29 05:55:26 [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
2025-04-29 05:55:26 [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
2025-04-29 05:55:26 [debug] Moves scheduled 26147, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=597, frequency (Hz): min=1488, max=15306
Sync err accum 76, peak jitter -2/0, peak Rx delay 220, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2143959610 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max
2025-04-29 05:55:26 [debug] Driver 0: pos -9612, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18262, writes 0 timeouts 0
2025-04-29 05:55:26 [debug] Last sensors broadcast 0x00000000 found 0 173 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 102, 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 360, adv 36108/37128
2025-04-29 05:55:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10409, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2279
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:55:26 [info] currentZPosition:0.00417
2025-04-29 05:55:27 [debug] Stopped at height 0.005 mm
2025-04-29 05:55:27 [debug] Diagnostics for board 50:
2025-04-29 05:55:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:55:27 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.7%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.8%
Owned mutexes:
Last reset 16:43:18 ago, cause: software
2025-04-29 05:55:27 [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
2025-04-29 05:55:27 [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
2025-04-29 05:55:27 [debug] Moves scheduled 26151, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 385, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=514, frequency (Hz): min=1415, max=15306
Sync err accum 67, peak jitter -2/-1, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2142952040 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, ma
2025-04-29 05:55:27 [debug] Driver 0: pos -9600, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15442, writes 0 timeouts 0
2025-04-29 05:55:27 [debug] Last sensors broadcast 0x00000000 found 0 11 ticks ago, 0 ordering errs, loop time 2
CAN messages queued 92, 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 381, adv 36175/37118
2025-04-29 05:55:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10398, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4707, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:55:27 [info] currentZPosition:0.00547
2025-04-29 05:55:27 [debug] Stopped at height 0.004 mm
2025-04-29 05:55:29 [debug] Stopped at height 0.006 mm
2025-04-29 05:55:29 [debug] Diagnostics for board 50:
2025-04-29 05:55:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:55:29 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.7%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:43:20 ago, cause: software
2025-04-29 05:55:29 [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
2025-04-29 05:55:29 [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
2025-04-29 05:55:29 [debug] Moves scheduled 26157, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=517, frequency (Hz): min=1602, max=15306
Sync err accum 69, peak jitter -3/3, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2141571886 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max
2025-04-29 05:55:29 [debug] Driver 0: pos -9597, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 21687, writes 0 timeouts 0
2025-04-29 05:55:29 [debug] Last sensors broadcast 0x00000000 found 0 101 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 102, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 35986/37127
2025-04-29 05:55:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2268
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10330, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:55:29 [info] currentZPosition:0.00577
2025-04-29 05:55:29 [debug] Stopped at height 0.005 mm
2025-04-29 05:55:30 [debug] Stopped at height 0.006 mm
2025-04-29 05:55:30 [debug] Diagnostics for board 50:
2025-04-29 05:55:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:55:30 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.3%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:43:22 ago, cause: software
2025-04-29 05:55:30 [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
2025-04-29 05:55:30 [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
2025-04-29 05:55:30 [debug] Moves scheduled 26163, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=454, frequency (Hz): min=1173, max=15306
Sync err accum 77, peak jitter 1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 2140308218 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:55:30 [debug] Driver 0: pos -9597, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 19762, writes 0 timeouts 0
2025-04-29 05:55:30 [debug] Last sensors broadcast 0x00000000 found 0 40 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 103, 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 385, adv 36190/37117
2025-04-29 05:55:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2269
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10338, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:55:31 [info] currentZPosition:0.00577
2025-04-29 05:55:32 [debug] Stopped at height 0.004 mm
2025-04-29 05:55:32 [debug] Diagnostics for board 50:
2025-04-29 05:55:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:55:32 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:43:23 ago, cause: software
2025-04-29 05:55:32 [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
2025-04-29 05:55:32 [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
2025-04-29 05:55:32 [debug] Moves scheduled 26167, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=606, frequency (Hz): min=1552, max=15625
Sync err accum 81, peak jitter 0/1, peak Rx delay 184, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2139118474 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max 
2025-04-29 05:55:32 [debug] Driver 0: pos -9612, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18520, writes 0 timeouts 0
2025-04-29 05:55:32 [debug] Last sensors broadcast 0x00000000 found 0 123 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 103, 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 396, adv 35818/37103
2025-04-29 05:55:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10418, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2279
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:55:32 [info] currentZPosition:0.00437
2025-04-29 05:55:33 [debug] Stopped at height 0.004 mm
2025-04-29 05:55:34 [debug] Stopped at height 0.006 mm
2025-04-29 05:55:34 [debug] Diagnostics for board 50:
2025-04-29 05:55:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:55:34 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.4%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:43:25 ago, cause: software
2025-04-29 05:55:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 05:55:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 05:55:34 [debug] Moves scheduled 26173, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=590, frequency (Hz): min=1482, max=15306
Sync err accum 81, peak jitter 0/0, peak Rx delay 185, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2137882676 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max 
2025-04-29 05:55:34 [debug] Driver 0: pos -9595, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 19285, writes 0 timeouts 0
2025-04-29 05:55:34 [debug] Last sensors broadcast 0x00000000 found 0 21 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 99, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 35669/37115
2025-04-29 05:55:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2269
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10315, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:55:34 [info] currentZPosition:0.00606
2025-04-29 05:55:34 [debug] Stopped at height 0.005 mm
2025-04-29 05:55:36 [debug] Stopped at height 0.006 mm
2025-04-29 05:55:36 [debug] Diagnostics for board 50:
2025-04-29 05:55:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:55:36 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:43:27 ago, cause: software
2025-04-29 05:55:36 [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
2025-04-29 05:55:36 [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
2025-04-29 05:55:36 [debug] Moves scheduled 26179, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=504, frequency (Hz): min=1602, max=15306
Sync err accum 72, peak jitter -2/0, peak Rx delay 221, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2136502556 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:55:36 [debug] Driver 0: pos -9591, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 21779, writes 0 timeouts 0
2025-04-29 05:55:36 [debug] Last sensors broadcast 0x00000000 found 0 112 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 102, 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 366, adv 35660/37129
2025-04-29 05:55:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10319, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:55:36 [info] currentZPosition:0.00646
2025-04-29 05:55:36 [debug] Stopped at height 0.005 mm
2025-04-29 05:55:37 [debug] Stopped at height 0.006 mm
2025-04-29 05:55:37 [debug] Diagnostics for board 50:
2025-04-29 05:55:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:55:37 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.0%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:43:29 ago, cause: software
2025-04-29 05:55:37 [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
2025-04-29 05:55:37 [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
2025-04-29 05:55:37 [debug] Moves scheduled 26185, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 160, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=689, frequency (Hz): min=1247, max=15306
Sync err accum 60, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2135230196 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatu
2025-04-29 05:55:37 [debug] Driver 0: pos -9596, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 19890, writes 0 timeouts 0
2025-04-29 05:55:37 [debug] Last sensors broadcast 0x00000000 found 0 56 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 102, 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 373, adv 35898/37119
2025-04-29 05:55:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10340, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:55:37 [info] currentZPosition:0.00596
2025-04-29 05:55:39 [debug] Stopped at height 0.006 mm
2025-04-29 05:55:39 [debug] Diagnostics for board 50:
2025-04-29 05:55:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:55:39 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:43:30 ago, cause: software
2025-04-29 05:55:39 [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
2025-04-29 05:55:39 [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
2025-04-29 05:55:39 [debug] Moves scheduled 26189, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 240, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=528, frequency (Hz): min=1605, max=15306
Sync err accum 79, peak jitter 1/3, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2134080816 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max 
2025-04-29 05:55:39 [debug] Driver 0: pos -9594, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18025, writes 0 timeouts 0
2025-04-29 05:55:39 [debug] Last sensors broadcast 0x00000000 found 0 89 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 88, 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 367, adv 36269/37112
2025-04-29 05:55:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10352, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2267
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:55:39 [info] currentZPosition:0.00616
2025-04-29 05:55:40 [debug] Stopped at height 0.007 mm
2025-04-29 05:55:40 [debug] Diagnostics for board 50:
2025-04-29 05:55:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:55:40 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.8%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:43:31 ago, cause: software
2025-04-29 05:55:40 [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
2025-04-29 05:55:40 [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
2025-04-29 05:55:40 [debug] Moves scheduled 26193, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=692, frequency (Hz): min=1315, max=15000
Sync err accum 87, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 2133065490 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:55:40 [debug] Driver 0: pos -9587, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15751, writes 0 timeouts 0
2025-04-29 05:55:40 [debug] Last sensors broadcast 0x00000000 found 0 194 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 83, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 36074/37086
2025-04-29 05:55:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2267
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10323, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:55:40 [info] currentZPosition:0.00686
2025-04-29 05:55:42 [debug] Stopped at height 0.006 mm
2025-04-29 05:55:42 [debug] Diagnostics for board 50:
2025-04-29 05:55:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:55:42 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:43:33 ago, cause: software
2025-04-29 05:55:42 [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
2025-04-29 05:55:42 [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
2025-04-29 05:55:42 [debug] Moves scheduled 26197, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=588, frequency (Hz): min=1447, max=15306
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 2131886816 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:55:42 [debug] Driver 0: pos -9599, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18453, writes 0 timeouts 0
2025-04-29 05:55:42 [debug] Last sensors broadcast 0x00000000 found 0 13 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 94, 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 362, adv 36119/37141
2025-04-29 05:55:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10330, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:55:42 [info] currentZPosition:0.00567
2025-04-29 05:55:43 [debug] Stopped at height 0.007 mm
2025-04-29 05:55:43 [debug] Diagnostics for board 50:
2025-04-29 05:55:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:55:43 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.6%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:43:34 ago, cause: software
2025-04-29 05:55:43 [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
2025-04-29 05:55:43 [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
2025-04-29 05:55:43 [debug] Moves scheduled 26201, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=658, frequency (Hz): min=534, max=15625
Sync err accum 99, peak jitter 0/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2130876498 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-29 05:55:43 [debug] Driver 0: pos -9590, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15693, writes 11 timeouts 1
2025-04-29 05:55:43 [debug] Last sensors broadcast 0x00000000 found 0 110 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 86, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36291/37093
2025-04-29 05:55:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2267
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10308, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:55:43 [info] currentZPosition:0.00666
2025-04-29 05:55:45 [debug] Stopped at height 0.006 mm
2025-04-29 05:55:45 [debug] Diagnostics for board 50:
2025-04-29 05:55:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:55:45 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:43:36 ago, cause: software
2025-04-29 05:55:45 [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
2025-04-29 05:55:45 [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
2025-04-29 05:55:45 [debug] Moves scheduled 26205, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=845, frequency (Hz): min=1016, max=15306
Sync err accum 96, peak jitter -1/0, peak Rx delay 191, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 2129708231 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:55:45 [debug] Driver 0: pos -9599, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18383, writes 0 timeouts 0
2025-04-29 05:55:45 [debug] Last sensors broadcast 0x00000000 found 0 171 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 89, 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 350, adv 35968/37153
2025-04-29 05:55:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10336, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:55:45 [info] currentZPosition:0.00577
2025-04-29 05:55:46 [debug] Stopped at height 0.006 mm
2025-04-29 05:55:46 [debug] Diagnostics for board 50:
2025-04-29 05:55:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:55:46 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.6%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:43:37 ago, cause: software
2025-04-29 05:55:46 [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
2025-04-29 05:55:46 [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
2025-04-29 05:55:46 [debug] Moves scheduled 26209, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=561, frequency (Hz): min=1575, max=15306
Sync err accum 93, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2128690832 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max
2025-04-29 05:55:46 [debug] Driver 0: pos -9593, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15797, writes 0 timeouts 0
2025-04-29 05:55:46 [debug] Last sensors broadcast 0x00000000 found 0 25 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 85, 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 381, adv 35772/37109
2025-04-29 05:55:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2267
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10323, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:55:46 [info] currentZPosition:0.00636
2025-04-29 05:55:48 [debug] Stopped at height 0.007 mm
2025-04-29 05:55:48 [debug] Diagnostics for board 50:
2025-04-29 05:55:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:55:48 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:43:39 ago, cause: software
2025-04-29 05:55:48 [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
2025-04-29 05:55:48 [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
2025-04-29 05:55:48 [debug] Moves scheduled 26213, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=508, frequency (Hz): min=1585, max=15306
Sync err accum 84, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2127544591 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, ma
2025-04-29 05:55:48 [debug] Driver 0: pos -9589, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17983, writes 0 timeouts 0
2025-04-29 05:55:48 [debug] Last sensors broadcast 0x00000000 found 0 55 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 85, 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 386, adv 35814/37092
2025-04-29 05:55:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10305, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:55:48 [info] currentZPosition:0.00676
2025-04-29 05:55:49 [debug] Stopped at height 0.006 mm
2025-04-29 05:55:49 [debug] Diagnostics for board 50:
2025-04-29 05:55:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:55:49 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:43:40 ago, cause: software
2025-04-29 05:55:49 [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
2025-04-29 05:55:49 [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
2025-04-29 05:55:49 [debug] Moves scheduled 26217, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=468, frequency (Hz): min=1341, max=15306
Sync err accum 69, peak jitter -3/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 2126499640 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 05:55:49 [debug] Driver 0: pos -9598, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16365, writes 0 timeouts 0
2025-04-29 05:55:49 [debug] Last sensors broadcast 0x00000000 found 0 201 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 88, 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 387, adv 36012/37119
2025-04-29 05:55:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2268
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10328, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:55:49 [info] currentZPosition:0.00586
2025-04-29 05:55:50 [debug] Stopped at height 0.006 mm
2025-04-29 05:55:50 [debug] Diagnostics for board 50:
2025-04-29 05:55:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:55:50 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:43:42 ago, cause: software
2025-04-29 05:55:50 [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
2025-04-29 05:55:50 [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
2025-04-29 05:55:50 [debug] Moves scheduled 26221, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=496, frequency (Hz): min=1503, max=15306
Sync err accum 63, peak jitter -2/1, peak Rx delay 187, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2125353669 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max
2025-04-29 05:55:50 [debug] Driver 0: pos -9593, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17911, writes 0 timeouts 0
2025-04-29 05:55:50 [debug] Last sensors broadcast 0x00000000 found 0 225 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 88, 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 348, adv 35669/37151
2025-04-29 05:55:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10345, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2267
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:55:51 [info] currentZPosition:0.00636
2025-04-29 05:55:52 [debug] Stopped at height 0.007 mm
2025-04-29 05:55:52 [debug] Diagnostics for board 50:
2025-04-29 05:55:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:55:52 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.9%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:43:43 ago, cause: software
2025-04-29 05:55:52 [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
2025-04-29 05:55:52 [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
2025-04-29 05:55:52 [debug] Moves scheduled 26225, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=608, frequency (Hz): min=1431, max=15625
Sync err accum 72, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2124327139 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max 
2025-04-29 05:55:52 [debug] Driver 0: pos -9591, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15918, writes 0 timeouts 0
2025-04-29 05:55:52 [debug] Last sensors broadcast 0x00000000 found 0 93 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 85, 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 385, adv 36143/37100
2025-04-29 05:55:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2268
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10330, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:55:52 [info] currentZPosition:0.00656
2025-04-29 05:55:53 [debug] Stopped at height 0.006 mm
2025-04-29 05:55:53 [debug] Diagnostics for board 50:
2025-04-29 05:55:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:55:53 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:43:45 ago, cause: software
2025-04-29 05:55:53 [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
2025-04-29 05:55:53 [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
2025-04-29 05:55:53 [debug] Moves scheduled 26229, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=430, frequency (Hz): min=614, max=15306
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 2123160559 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, curr
2025-04-29 05:55:53 [debug] Driver 0: pos -9599, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18291, writes 11 timeouts 1
2025-04-29 05:55:53 [debug] Last sensors broadcast 0x00000000 found 0 149 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 88, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36299/37151
2025-04-29 05:55:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2269
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10389, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:55:53 [info] currentZPosition:0.00586
2025-04-29 05:55:55 [debug] Stopped at height 0.007 mm
2025-04-29 05:55:55 [debug] Diagnostics for board 50:
2025-04-29 05:55:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:55:55 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.6%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:43:46 ago, cause: software
2025-04-29 05:55:55 [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
2025-04-29 05:55:55 [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
2025-04-29 05:55:55 [debug] Moves scheduled 26233, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 250, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=513, frequency (Hz): min=1533, max=15306
Sync err accum 81, peak jitter 0/1, peak Rx delay 189, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2122155491 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max 
2025-04-29 05:55:55 [debug] Driver 0: pos -9588, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15632, writes 0 timeouts 0
2025-04-29 05:55:55 [debug] Last sensors broadcast 0x00000000 found 0 239 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 83, 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 451, adv 35630/37105
2025-04-29 05:55:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10338, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:55:55 [info] currentZPosition:0.00696
2025-04-29 05:55:56 [debug] Stopped at height 0.005 mm
2025-04-29 05:55:56 [debug] Diagnostics for board 50:
2025-04-29 05:55:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:55:56 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:43:48 ago, cause: software
2025-04-29 05:55:56 [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
2025-04-29 05:55:56 [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
2025-04-29 05:55:56 [debug] Moves scheduled 26237, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=465, frequency (Hz): min=1674, max=15306
Sync err accum 77, peak jitter -1/0, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 2120969993 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:55:56 [debug] Driver 0: pos -9605, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18657, writes 0 timeouts 0
2025-04-29 05:55:56 [debug] Last sensors broadcast 0x00000000 found 0 72 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 95, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36106/37154
2025-04-29 05:55:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10399, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:55:56 [info] currentZPosition:0.00527
2025-04-29 05:55:57 [debug] Stopped at height 0.004 mm
2025-04-29 05:55:58 [debug] Stopped at height 0.006 mm
2025-04-29 05:55:58 [debug] Diagnostics for board 50:
2025-04-29 05:55:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:55:58 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.9%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:43:49 ago, cause: software
2025-04-29 05:55:58 [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
2025-04-29 05:55:58 [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
2025-04-29 05:55:58 [debug] Moves scheduled 26243, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=633, frequency (Hz): min=1381, max=15306
Sync err accum 71, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2119719270 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max
2025-04-29 05:55:58 [debug] Driver 0: pos -9595, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 19607, writes 0 timeouts 0
2025-04-29 05:55:58 [debug] Last sensors broadcast 0x00000000 found 0 239 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 95, 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 434, adv 35880/37088
2025-04-29 05:55:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2268
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10353, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:55:58 [info] currentZPosition:0.00636
2025-04-29 05:55:58 [debug] Stopped at height 0.004 mm
2025-04-29 05:56:00 [debug] Stopped at height 0.006 mm
2025-04-29 05:56:00 [debug] Diagnostics for board 50:
2025-04-29 05:56:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:56:00 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:43:51 ago, cause: software
2025-04-29 05:56:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 05:56:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 05:56:00 [debug] Moves scheduled 26249, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=422, frequency (Hz): min=1963, max=15306
Sync err accum 61, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2118323911 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:56:00 [debug] Driver 0: pos -9600, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 21963, writes 0 timeouts 0
2025-04-29 05:56:00 [debug] Last sensors broadcast 0x00000000 found 0 99 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 113, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36021/37119
2025-04-29 05:56:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10391, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:56:00 [info] currentZPosition:0.00586
2025-04-29 05:56:00 [debug] Stopped at height 0.005 mm
2025-04-29 05:56:01 [debug] Stopped at height 0.007 mm
2025-04-29 05:56:01 [debug] Diagnostics for board 50:
2025-04-29 05:56:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:56:01 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.9%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:43:53 ago, cause: software
2025-04-29 05:56:01 [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
2025-04-29 05:56:01 [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
2025-04-29 05:56:01 [debug] Moves scheduled 26255, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 243, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=537, frequency (Hz): min=1527, max=15625
Sync err accum 80, peak jitter 1/3, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2117077234 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max 
2025-04-29 05:56:01 [debug] Driver 0: pos -9593, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 19554, writes 0 timeouts 0
2025-04-29 05:56:01 [debug] Last sensors broadcast 0x00000000 found 0 11 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 99, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36049/37125
2025-04-29 05:56:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10323, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:56:02 [info] currentZPosition:0.00676
2025-04-29 05:56:02 [debug] Stopped at height 0.005 mm
2025-04-29 05:56:03 [debug] Stopped at height 0.006 mm
2025-04-29 05:56:03 [debug] Diagnostics for board 50:
2025-04-29 05:56:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:56:03 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:43:55 ago, cause: software
2025-04-29 05:56:03 [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
2025-04-29 05:56:03 [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
2025-04-29 05:56:03 [debug] Moves scheduled 26261, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 310, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=554, frequency (Hz): min=1412, max=15306
Sync err accum 99, peak jitter 1/3, peak Rx delay 186, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2115671139 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max 
2025-04-29 05:56:03 [debug] Driver 0: pos -9601, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 22106, writes 0 timeouts 0
2025-04-29 05:56:03 [debug] Last sensors broadcast 0x00000000 found 0 137 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 115, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 35805/37103
2025-04-29 05:56:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10397, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:56:03 [info] currentZPosition:0.00596
2025-04-29 05:56:05 [debug] Stopped at height 0.007 mm
2025-04-29 05:56:05 [debug] Diagnostics for board 50:
2025-04-29 05:56:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:56:05 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.6%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:43:56 ago, cause: software
2025-04-29 05:56:05 [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
2025-04-29 05:56:05 [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
2025-04-29 05:56:05 [debug] Moves scheduled 26265, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=584, frequency (Hz): min=669, max=15306
Sync err accum 108, peak jitter 1/2, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 1 ticks, disabled, next step interrupt due in 2114662590 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:56:05 [debug] Driver 0: pos -9590, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15651, writes 11 timeouts 1
2025-04-29 05:56:05 [debug] Last sensors broadcast 0x00000000 found 0 230 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 83, 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 364, adv 36259/37173
2025-04-29 05:56:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2269
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10336, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:56:05 [info] currentZPosition:0.00706
2025-04-29 05:56:06 [debug] Stopped at height 0.007 mm
2025-04-29 05:56:06 [debug] Diagnostics for board 50:
2025-04-29 05:56:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:56:06 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:43:58 ago, cause: software
2025-04-29 05:56:06 [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
2025-04-29 05:56:06 [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
2025-04-29 05:56:06 [debug] Moves scheduled 26269, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 277, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=545, frequency (Hz): min=1559, max=15306
Sync err accum 111, peak jitter 0/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2113511697 ticks, 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
2025-04-29 05:56:06 [debug] Driver 0: pos -9587, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18119, writes 0 timeouts 0
2025-04-29 05:56:06 [debug] Last sensors broadcast 0x00000000 found 0 14 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 87, 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 377, adv 35754/37121
2025-04-29 05:56:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10334, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2268
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:56:06 [info] currentZPosition:0.00736
2025-04-29 05:56:08 [debug] Stopped at height 0.007 mm
2025-04-29 05:56:08 [debug] Diagnostics for board 50:
2025-04-29 05:56:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:56:08 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:43:59 ago, cause: software
2025-04-29 05:56:08 [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
2025-04-29 05:56:08 [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
2025-04-29 05:56:08 [debug] Moves scheduled 26273, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=485, frequency (Hz): min=1716, max=16304
Sync err accum 110, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 2112482605 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 05:56:08 [debug] Driver 0: pos -9589, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16102, writes 0 timeouts 0
2025-04-29 05:56:08 [debug] Last sensors broadcast 0x00000000 found 0 136 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 83, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 35732/37138
2025-04-29 05:56:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2267
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10310, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:56:08 [info] currentZPosition:0.00716
2025-04-29 05:56:09 [debug] Stopped at height 0.006 mm
2025-04-29 05:56:09 [debug] Diagnostics for board 50:
2025-04-29 05:56:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:56:09 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:44:00 ago, cause: software
2025-04-29 05:56:09 [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
2025-04-29 05:56:09 [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
2025-04-29 05:56:09 [debug] Moves scheduled 26277, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 261, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=637, frequency (Hz): min=1371, max=15306
Sync err accum 101, peak jitter -2/0, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 2111308070 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 05:56:09 [debug] Driver 0: pos -9601, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18397, writes 0 timeouts 0
2025-04-29 05:56:09 [debug] Last sensors broadcast 0x00000000 found 0 204 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 97, 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 335, adv 36346/37128
2025-04-29 05:56:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10388, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:56:09 [info] currentZPosition:0.00596
2025-04-29 05:56:10 [debug] Stopped at height 0.007 mm
2025-04-29 05:56:10 [debug] Diagnostics for board 50:
2025-04-29 05:56:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:56:10 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.8%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.8%
Owned mutexes:
Last reset 16:44:02 ago, cause: software
2025-04-29 05:56:10 [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
2025-04-29 05:56:10 [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
2025-04-29 05:56:10 [debug] Moves scheduled 26281, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 307, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=592, frequency (Hz): min=786, max=15306
Sync err accum 93, peak jitter -2/-1, peak Rx delay 186, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2110300579 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max
2025-04-29 05:56:10 [debug] Driver 0: pos -9591, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15586, writes 11 timeouts 1
2025-04-29 05:56:10 [debug] Last sensors broadcast 0x00000000 found 0 46 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 87, 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 361, adv 35922/37124
2025-04-29 05:56:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10329, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:56:11 [info] currentZPosition:0.00696
2025-04-29 05:56:12 [debug] Stopped at height 0.006 mm
2025-04-29 05:56:12 [debug] Diagnostics for board 50:
2025-04-29 05:56:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:56:12 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:44:03 ago, cause: software
2025-04-29 05:56:12 [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
2025-04-29 05:56:12 [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
2025-04-29 05:56:12 [debug] Moves scheduled 26285, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=556, frequency (Hz): min=1368, max=15625
Sync err accum 76, peak jitter -3/-2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2109134548 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatu
2025-04-29 05:56:12 [debug] Driver 0: pos -9596, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18224, writes 0 timeouts 0
2025-04-29 05:56:12 [debug] Last sensors broadcast 0x00000000 found 0 99 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 90, 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 387, adv 36209/37119
2025-04-29 05:56:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10344, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4707, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:56:12 [info] currentZPosition:0.00646
2025-04-29 05:56:13 [debug] Stopped at height 0.006 mm
2025-04-29 05:56:13 [debug] Diagnostics for board 50:
2025-04-29 05:56:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:56:13 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:44:05 ago, cause: software
2025-04-29 05:56:13 [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
2025-04-29 05:56:13 [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
2025-04-29 05:56:13 [debug] Moves scheduled 26289, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=574, frequency (Hz): min=1506, max=27777
Sync err accum 60, peak jitter -3/-2, peak Rx delay 185, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2108096713 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 05:56:13 [debug] Driver 0: pos -9600, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16081, writes 0 timeouts 0
2025-04-29 05:56:13 [debug] Last sensors broadcast 0x00000000 found 0 235 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 92, 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 372, adv 36059/37158
2025-04-29 05:56:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10354, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:56:14 [info] currentZPosition:0.00606
2025-04-29 05:56:15 [debug] Stopped at height 0.006 mm
2025-04-29 05:56:15 [debug] Diagnostics for board 50:
2025-04-29 05:56:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:56:15 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:44:06 ago, cause: software
2025-04-29 05:56:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 05:56:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 05:56:15 [debug] Moves scheduled 26293, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 170, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=612, frequency (Hz): min=828, max=15306
Sync err accum 67, peak jitter -2/3, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2106944964 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 05:56:15 [debug] Driver 0: pos -9596, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17964, writes 11 timeouts 1
2025-04-29 05:56:15 [debug] Last sensors broadcast 0x00000000 found 0 20 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 89, 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 387, adv 36008/37105
2025-04-29 05:56:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2268
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10345, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:56:15 [info] currentZPosition:0.00646
2025-04-29 05:56:16 [debug] Stopped at height 0.007 mm
2025-04-29 05:56:16 [debug] Diagnostics for board 50:
2025-04-29 05:56:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:56:16 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.6%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:44:08 ago, cause: software
2025-04-29 05:56:16 [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
2025-04-29 05:56:16 [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
2025-04-29 05:56:16 [debug] Moves scheduled 26297, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=648, frequency (Hz): min=525, max=15306
Sync err accum 88, peak jitter 3/3, peak Rx delay 218, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 2105921954 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, curr
2025-04-29 05:56:16 [debug] Driver 0: pos -9594, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15875, writes 11 timeouts 1
2025-04-29 05:56:16 [debug] Last sensors broadcast 0x00000000 found 0 133 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 85, 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 416, adv 36264/37083
2025-04-29 05:56:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10325, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:56:16 [info] currentZPosition:0.00666
2025-04-29 05:56:18 [debug] Stopped at height 0.006 mm
2025-04-29 05:56:18 [debug] Diagnostics for board 50:
2025-04-29 05:56:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:56:18 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:44:09 ago, cause: software
2025-04-29 05:56:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 05:56:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 05:56:18 [debug] Moves scheduled 26301, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=709, frequency (Hz): min=1297, max=15306
Sync err accum 105, peak jitter 2/3, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 2104763014 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:56:18 [debug] Driver 0: pos -9597, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18176, writes 0 timeouts 0
2025-04-29 05:56:18 [debug] Last sensors broadcast 0x00000000 found 0 181 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 92, send timeouts 0, received 22, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 35884/37091
2025-04-29 05:56:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10374, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:56:18 [info] currentZPosition:0.00636
2025-04-29 05:56:19 [debug] Stopped at height 0.006 mm
2025-04-29 05:56:19 [debug] Diagnostics for board 50:
2025-04-29 05:56:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:56:19 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.8%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:44:11 ago, cause: software
2025-04-29 05:56:19 [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
2025-04-29 05:56:19 [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
2025-04-29 05:56:19 [debug] Moves scheduled 26305, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=594, frequency (Hz): min=1302, max=15306
Sync err accum 117, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2103724787 ticks, 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
2025-04-29 05:56:19 [debug] Driver 0: pos -9599, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16111, writes 0 timeouts 0
2025-04-29 05:56:19 [debug] Last sensors broadcast 0x00000000 found 0 64 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 92, 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 421, adv 35727/37125
2025-04-29 05:56:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2269
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10364, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:56:19 [info] currentZPosition:0.00616
2025-04-29 05:56:21 [debug] Stopped at height 0.007 mm
2025-04-29 05:56:21 [debug] Diagnostics for board 50:
2025-04-29 05:56:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:56:21 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:44:12 ago, cause: software
2025-04-29 05:56:21 [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
2025-04-29 05:56:21 [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
2025-04-29 05:56:21 [debug] Moves scheduled 26309, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 157, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=666, frequency (Hz): min=1351, max=15306
Sync err accum 123, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 2102585467 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:56:21 [debug] Driver 0: pos -9592, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17779, writes 0 timeouts 0
2025-04-29 05:56:21 [debug] Last sensors broadcast 0x00000000 found 0 82 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 89, 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 387, adv 35729/37071
2025-04-29 05:56:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10322, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:56:21 [info] currentZPosition:0.00686
2025-04-29 05:56:22 [debug] Stopped at height 0.007 mm
2025-04-29 05:56:22 [debug] Diagnostics for board 50:
2025-04-29 05:56:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:56:22 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:44:13 ago, cause: software
2025-04-29 05:56:22 [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
2025-04-29 05:56:22 [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
2025-04-29 05:56:22 [debug] Moves scheduled 26313, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=534, frequency (Hz): min=1299, max=15306
Sync err accum 126, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 2101549213 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:56:22 [debug] Driver 0: pos -9595, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16180, writes 0 timeouts 0
2025-04-29 05:56:22 [debug] Last sensors broadcast 0x00000000 found 0 213 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 86, 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 368, adv 35926/37151
2025-04-29 05:56:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10331, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:56:22 [info] currentZPosition:0.00656
2025-04-29 05:56:24 [debug] Stopped at height 0.006 mm
2025-04-29 05:56:24 [debug] Diagnostics for board 50:
2025-04-29 05:56:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:56:24 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:44:15 ago, cause: software
2025-04-29 05:56:24 [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
2025-04-29 05:56:24 [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
2025-04-29 05:56:24 [debug] Moves scheduled 26317, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 283, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=578, frequency (Hz): min=1171, max=15306
Sync err accum 127, peak jitter -1/1, peak Rx delay 188, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 2100378343 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 05:56:24 [debug] Driver 0: pos -9602, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18342, writes 0 timeouts 0
2025-04-29 05:56:24 [debug] Last sensors broadcast 0x00000000 found 0 26 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 97, 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 365, adv 35605/37140
2025-04-29 05:56:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10393, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:56:24 [info] currentZPosition:0.00586
2025-04-29 05:56:25 [debug] Stopped at height 0.006 mm
2025-04-29 05:56:25 [debug] Diagnostics for board 50:
2025-04-29 05:56:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:56:25 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.6%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:44:16 ago, cause: software
2025-04-29 05:56:25 [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
2025-04-29 05:56:25 [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
2025-04-29 05:56:25 [debug] Moves scheduled 26321, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 557, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=5, max=693, frequency (Hz): min=1366, max=15306
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 2099339493 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, 
2025-04-29 05:56:25 [debug] Driver 0: pos -9605, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16119, writes 0 timeouts 0
2025-04-29 05:56:25 [debug] Last sensors broadcast 0x00000000 found 0 162 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 95, 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 665, adv 36244/37167
2025-04-29 05:56:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10388, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:56:25 [info] currentZPosition:0.00557
2025-04-29 05:56:27 [debug] Stopped at height 0.006 mm
2025-04-29 05:56:27 [debug] Diagnostics for board 50:
2025-04-29 05:56:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:56:27 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:44:18 ago, cause: software
2025-04-29 05:56:27 [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
2025-04-29 05:56:27 [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
2025-04-29 05:56:27 [debug] Moves scheduled 26325, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 551, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=505, frequency (Hz): min=1619, max=15306
Sync err accum 106, peak jitter -3/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 2098192716 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, 
2025-04-29 05:56:27 [debug] Driver 0: pos -9602, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17822, writes 0 timeouts 0
2025-04-29 05:56:27 [debug] Last sensors broadcast 0x00000000 found 0 192 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 92, 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 460, adv 36154/37143
2025-04-29 05:56:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10375, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:56:27 [info] currentZPosition:0.00586
2025-04-29 05:56:28 [debug] Stopped at height 0.007 mm
2025-04-29 05:56:28 [debug] Diagnostics for board 50:
2025-04-29 05:56:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:56:28 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.4%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:44:19 ago, cause: software
2025-04-29 05:56:28 [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
2025-04-29 05:56:28 [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
2025-04-29 05:56:28 [debug] Moves scheduled 26329, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=426, frequency (Hz): min=1708, max=15306
Sync err accum 94, peak jitter -3/-1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2097177633 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, ma
2025-04-29 05:56:28 [debug] Driver 0: pos -9595, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15827, writes 0 timeouts 0
2025-04-29 05:56:28 [debug] Last sensors broadcast 0x00000000 found 0 43 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 87, 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 408, adv 35938/37101
2025-04-29 05:56:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2268
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10348, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:56:28 [info] currentZPosition:0.00656
2025-04-29 05:56:30 [debug] Stopped at height 0.006 mm
2025-04-29 05:56:30 [debug] Diagnostics for board 50:
2025-04-29 05:56:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:56:30 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:44:21 ago, cause: software
2025-04-29 05:56:30 [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
2025-04-29 05:56:30 [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
2025-04-29 05:56:30 [debug] Moves scheduled 26333, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=441, frequency (Hz): min=1829, max=15306
Sync err accum 75, peak jitter -3/-2, peak Rx delay 189, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2096020131 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, ma
2025-04-29 05:56:30 [debug] Driver 0: pos -9597, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18141, writes 0 timeouts 0
2025-04-29 05:56:30 [debug] Last sensors broadcast 0x00000000 found 0 86 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 90, 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 407, adv 36082/37073
2025-04-29 05:56:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10348, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:56:30 [info] currentZPosition:0.00636
2025-04-29 05:56:31 [debug] Stopped at height 0.005 mm
2025-04-29 05:56:31 [debug] Diagnostics for board 50:
2025-04-29 05:56:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:56:31 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.6%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:44:22 ago, cause: software
2025-04-29 05:56:31 [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
2025-04-29 05:56:31 [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
2025-04-29 05:56:31 [debug] Moves scheduled 26337, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=500, frequency (Hz): min=1732, max=15306
Sync err accum 58, peak jitter -4/-1, peak Rx delay 186, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2094965977 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, ma
2025-04-29 05:56:31 [debug] Driver 0: pos -9608, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16892, writes 0 timeouts 0
2025-04-29 05:56:31 [debug] Last sensors broadcast 0x00000000 found 0 39 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 96, 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 386, adv 36157/37125
2025-04-29 05:56:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10401, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:56:31 [info] currentZPosition:0.00527
2025-04-29 05:56:33 [debug] Stopped at height 0.005 mm
2025-04-29 05:56:33 [debug] Diagnostics for board 50:
2025-04-29 05:56:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:56:33 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:44:24 ago, cause: software
2025-04-29 05:56:33 [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
2025-04-29 05:56:33 [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
2025-04-29 05:56:33 [debug] Moves scheduled 26341, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=586, frequency (Hz): min=1543, max=15306
Sync err accum 72, peak jitter 0/4, peak Rx delay 189, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2093773262 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max 
2025-04-29 05:56:33 [debug] Driver 0: pos -9609, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18075, writes 0 timeouts 0
2025-04-29 05:56:33 [debug] Last sensors broadcast 0x00000000 found 0 82 ticks ago, 0 ordering errs, loop time 2
CAN messages queued 99, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 35913/37118
2025-04-29 05:56:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10426, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:56:33 [info] currentZPosition:0.00517
2025-04-29 05:56:34 [debug] Stopped at height 0.006 mm
2025-04-29 05:56:34 [debug] Diagnostics for board 50:
2025-04-29 05:56:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:56:34 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:44:25 ago, cause: software
2025-04-29 05:56:34 [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
2025-04-29 05:56:34 [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
2025-04-29 05:56:34 [debug] Moves scheduled 26345, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=516, frequency (Hz): min=1266, max=15306
Sync err accum 81, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2092770258 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max 
2025-04-29 05:56:34 [debug] Driver 0: pos -9596, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15496, writes 0 timeouts 0
2025-04-29 05:56:34 [debug] Last sensors broadcast 0x00000000 found 0 171 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 87, 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 663, adv 36358/37122
2025-04-29 05:56:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10372, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:56:34 [info] currentZPosition:0.00646
2025-04-29 05:56:34 [debug] Stopped at height 0.005 mm
2025-04-29 05:56:36 [debug] Stopped at height 0.006 mm
2025-04-29 05:56:36 [debug] Diagnostics for board 50:
2025-04-29 05:56:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:56:36 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:44:27 ago, cause: software
2025-04-29 05:56:36 [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
2025-04-29 05:56:36 [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
2025-04-29 05:56:36 [debug] Moves scheduled 26351, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=485, frequency (Hz): min=919, max=15625
Sync err accum 85, peak jitter 0/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2091377839 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-29 05:56:36 [debug] Driver 0: pos -9600, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 21976, writes 11 timeouts 1
2025-04-29 05:56:36 [debug] Last sensors broadcast 0x00000000 found 0 28 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 105, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 35812/37123
2025-04-29 05:56:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10346, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:56:36 [info] currentZPosition:0.00626
2025-04-29 05:56:37 [debug] Stopped at height 0.006 mm
2025-04-29 05:56:37 [debug] Diagnostics for board 50:
2025-04-29 05:56:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:56:37 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.1%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:44:28 ago, cause: software
2025-04-29 05:56:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 05:56:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 05:56:37 [debug] Moves scheduled 26355, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 500, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=506, frequency (Hz): min=1322, max=15306
Sync err accum 84, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 2090334728 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:56:37 [debug] Driver 0: pos -9606, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16101, writes 0 timeouts 0
2025-04-29 05:56:37 [debug] Last sensors broadcast 0x00000000 found 0 168 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 94, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 35725/37111
2025-04-29 05:56:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10388, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:56:37 [info] currentZPosition:0.00567
2025-04-29 05:56:39 [debug] Stopped at height 0.006 mm
2025-04-29 05:56:39 [debug] Diagnostics for board 50:
2025-04-29 05:56:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:56:39 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:44:30 ago, cause: software
2025-04-29 05:56:39 [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
2025-04-29 05:56:39 [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
2025-04-29 05:56:39 [debug] Moves scheduled 26359, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=670, frequency (Hz): min=1356, max=15306
Sync err accum 80, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2089189187 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max
2025-04-29 05:56:39 [debug] Driver 0: pos -9604, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17906, writes 0 timeouts 0
2025-04-29 05:56:39 [debug] Last sensors broadcast 0x00000000 found 0 195 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 91, 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 363, adv 35703/37137
2025-04-29 05:56:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10386, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:56:39 [info] currentZPosition:0.00596
2025-04-29 05:56:40 [debug] Stopped at height 0.007 mm
2025-04-29 05:56:40 [debug] Diagnostics for board 50:
2025-04-29 05:56:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:56:40 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:44:31 ago, cause: software
2025-04-29 05:56:40 [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
2025-04-29 05:56:40 [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
2025-04-29 05:56:40 [debug] Moves scheduled 26363, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=456, frequency (Hz): min=1585, max=15306
Sync err accum 70, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 2088173531 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 05:56:40 [debug] Driver 0: pos -9597, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15755, writes 0 timeouts 0
2025-04-29 05:56:40 [debug] Last sensors broadcast 0x00000000 found 0 50 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 85, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 35938/37139
2025-04-29 05:56:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2269
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10352, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:56:40 [info] currentZPosition:0.00666
2025-04-29 05:56:42 [debug] Stopped at height 0.007 mm
2025-04-29 05:56:42 [debug] Diagnostics for board 50:
2025-04-29 05:56:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:56:42 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:44:33 ago, cause: software
2025-04-29 05:56:42 [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
2025-04-29 05:56:42 [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
2025-04-29 05:56:42 [debug] Moves scheduled 26367, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 883, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=690, frequency (Hz): min=892, max=15306
Sync err accum 61, peak jitter -2/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2087025779 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:56:42 [debug] Driver 0: pos -9596, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17957, writes 11 timeouts 1
2025-04-29 05:56:42 [debug] Last sensors broadcast 0x00000000 found 0 79 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 87, 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 393, adv 36310/37074
2025-04-29 05:56:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10321, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:56:42 [info] currentZPosition:0.00676
2025-04-29 05:56:43 [debug] Stopped at height 0.006 mm
2025-04-29 05:56:43 [debug] Diagnostics for board 50:
2025-04-29 05:56:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:56:43 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.9%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:44:34 ago, cause: software
2025-04-29 05:56:43 [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
2025-04-29 05:56:43 [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
2025-04-29 05:56:43 [debug] Moves scheduled 26371, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=457, frequency (Hz): min=1473, max=15625
Sync err accum 73, peak jitter 0/4, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2085987853 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max 
2025-04-29 05:56:43 [debug] Driver 0: pos -9601, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16095, writes 0 timeouts 0
2025-04-29 05:56:43 [debug] Last sensors broadcast 0x00000000 found 0 213 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 88, 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 377, adv 36154/37098
2025-04-29 05:56:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10374, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:56:43 [info] currentZPosition:0.00626
2025-04-29 05:56:44 [debug] Stopped at height 0.007 mm
2025-04-29 05:56:44 [debug] Diagnostics for board 50:
2025-04-29 05:56:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:56:44 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:44:36 ago, cause: software
2025-04-29 05:56:44 [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
2025-04-29 05:56:44 [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
2025-04-29 05:56:44 [debug] Moves scheduled 26375, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 367, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=570, frequency (Hz): min=505, max=15306
Sync err accum 77, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2084843238 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max 3
2025-04-29 05:56:44 [debug] Driver 0: pos -9598, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17871, writes 11 timeouts 1
2025-04-29 05:56:44 [debug] Last sensors broadcast 0x00000000 found 0 241 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 87, 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 411, adv 36119/37061
2025-04-29 05:56:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10378, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4709, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:56:45 [info] currentZPosition:0.00656
2025-04-29 05:56:46 [debug] Stopped at height 0.006 mm
2025-04-29 05:56:46 [debug] Diagnostics for board 50:
2025-04-29 05:56:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:56:46 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.4%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:44:37 ago, cause: software
2025-04-29 05:56:46 [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
2025-04-29 05:56:46 [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
2025-04-29 05:56:46 [debug] Moves scheduled 26379, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=657, frequency (Hz): min=1412, max=15306
Sync err accum 78, peak jitter 0/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 2083800087 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:56:46 [debug] Driver 0: pos -9604, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16213, writes 0 timeouts 0
2025-04-29 05:56:46 [debug] Last sensors broadcast 0x00000000 found 0 132 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 93, 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 355, adv 35627/37116
2025-04-29 05:56:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10414, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:56:46 [info] currentZPosition:0.00596
2025-04-29 05:56:47 [debug] Stopped at height 0.006 mm
2025-04-29 05:56:47 [debug] Diagnostics for board 50:
2025-04-29 05:56:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:56:47 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:44:39 ago, cause: software
2025-04-29 05:56:47 [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
2025-04-29 05:56:47 [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
2025-04-29 05:56:47 [debug] Moves scheduled 26383, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 307, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=433, frequency (Hz): min=630, max=15306
Sync err accum 72, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 2082645785 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:56:47 [debug] Driver 0: pos -9607, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17950, writes 11 timeouts 1
2025-04-29 05:56:47 [debug] Last sensors broadcast 0x00000000 found 0 169 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 94, 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 386, adv 35956/37119
2025-04-29 05:56:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10391, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:56:47 [info] currentZPosition:0.00567
2025-04-29 05:56:49 [debug] Stopped at height 0.005 mm
2025-04-29 05:56:49 [debug] Diagnostics for board 50:
2025-04-29 05:56:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:56:49 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.2%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:44:40 ago, cause: software
2025-04-29 05:56:49 [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
2025-04-29 05:56:49 [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
2025-04-29 05:56:49 [debug] Moves scheduled 26387, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=570, frequency (Hz): min=1633, max=15306
Sync err accum 64, peak jitter -2/-1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2081606705 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, ma
2025-04-29 05:56:49 [debug] Driver 0: pos -9609, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16047, writes 0 timeouts 0
2025-04-29 05:56:49 [debug] Last sensors broadcast 0x00000000 found 0 57 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 99, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 401, adv 35766/37103
2025-04-29 05:56:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10441, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:56:49 [info] currentZPosition:0.00547
2025-04-29 05:56:50 [debug] Stopped at height 0.007 mm
2025-04-29 05:56:50 [debug] Diagnostics for board 50:
2025-04-29 05:56:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:56:50 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:44:42 ago, cause: software
2025-04-29 05:56:50 [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
2025-04-29 05:56:50 [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
2025-04-29 05:56:50 [debug] Moves scheduled 26391, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=538, frequency (Hz): min=1540, max=15306
Sync err accum 66, peak jitter -2/2, peak Rx delay 187, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 2080479131 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:56:50 [debug] Driver 0: pos -9596, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17555, writes 0 timeouts 0
2025-04-29 05:56:50 [debug] Last sensors broadcast 0x00000000 found 0 59 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 87, 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 400, adv 35859/37107
2025-04-29 05:56:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10338, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:56:50 [info] currentZPosition:0.00676
2025-04-29 05:56:51 [debug] Stopped at height 0.005 mm
2025-04-29 05:56:52 [debug] Stopped at height 0.005 mm
2025-04-29 05:56:52 [debug] Diagnostics for board 50:
2025-04-29 05:56:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:56:52 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.1%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:44:43 ago, cause: software
2025-04-29 05:56:52 [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
2025-04-29 05:56:52 [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
2025-04-29 05:56:52 [debug] Moves scheduled 26397, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=565, frequency (Hz): min=1157, max=15306
Sync err accum 78, peak jitter 0/2, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2079173692 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 05:56:52 [debug] Driver 0: pos -9617, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20404, writes 0 timeouts 0
2025-04-29 05:56:52 [debug] Last sensors broadcast 0x00000000 found 0 48 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 117, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 35986/37108
2025-04-29 05:56:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10427, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:56:52 [info] currentZPosition:0.00477
2025-04-29 05:56:53 [debug] Stopped at height 0.007 mm
2025-04-29 05:56:53 [debug] Diagnostics for board 50:
2025-04-29 05:56:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:56:53 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:44:45 ago, cause: software
2025-04-29 05:56:53 [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
2025-04-29 05:56:53 [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
2025-04-29 05:56:53 [debug] Moves scheduled 26401, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=597, frequency (Hz): min=1533, max=15306
Sync err accum 80, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2078062939 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max 
2025-04-29 05:56:53 [debug] Driver 0: pos -9596, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17308, writes 0 timeouts 0
2025-04-29 05:56:53 [debug] Last sensors broadcast 0x00000000 found 0 33 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 90, 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 389, adv 35701/37089
2025-04-29 05:56:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10343, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:56:54 [info] currentZPosition:0.00686
2025-04-29 05:56:54 [debug] Stopped at height 0.005 mm
2025-04-29 05:56:55 [debug] Stopped at height 0.006 mm
2025-04-29 05:56:55 [debug] Diagnostics for board 50:
2025-04-29 05:56:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:56:55 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.2%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:44:46 ago, cause: software
2025-04-29 05:56:55 [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
2025-04-29 05:56:55 [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
2025-04-29 05:56:55 [debug] Moves scheduled 26407, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=692, frequency (Hz): min=1371, max=15306
Sync err accum 79, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2076783197 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:56:55 [debug] Driver 0: pos -9604, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 19956, writes 0 timeouts 0
2025-04-29 05:56:55 [debug] Last sensors broadcast 0x00000000 found 0 236 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 108, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 392, adv 36186/37102
2025-04-29 05:56:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10419, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:56:55 [info] currentZPosition:0.00606
2025-04-29 05:56:57 [debug] Stopped at height 0.007 mm
2025-04-29 05:56:57 [debug] Diagnostics for board 50:
2025-04-29 05:56:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:56:57 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:44:48 ago, cause: software
2025-04-29 05:56:57 [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
2025-04-29 05:56:57 [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
2025-04-29 05:56:57 [debug] Moves scheduled 26411, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=389, frequency (Hz): min=1807, max=15306
Sync err accum 76, peak jitter -1/0, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2075648474 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max
2025-04-29 05:56:57 [debug] Driver 0: pos -9596, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17773, writes 0 timeouts 0
2025-04-29 05:56:57 [debug] Last sensors broadcast 0x00000000 found 0 1 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 89, 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 363, adv 36307/37150
2025-04-29 05:56:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10346, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:56:57 [info] currentZPosition:0.00686
2025-04-29 05:56:58 [debug] Stopped at height 0.006 mm
2025-04-29 05:56:58 [debug] Diagnostics for board 50:
2025-04-29 05:56:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:56:58 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.9%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:44:49 ago, cause: software
2025-04-29 05:56:58 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 05:56:58 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 05:56:58 [debug] Moves scheduled 26415, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=566, frequency (Hz): min=1518, max=15625
Sync err accum 67, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2074601538 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:56:58 [debug] Driver 0: pos -9604, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16217, writes 0 timeouts 0
2025-04-29 05:56:58 [debug] Last sensors broadcast 0x00000000 found 0 148 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 91, 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 376, adv 35645/37126
2025-04-29 05:56:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10406, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:56:58 [info] currentZPosition:0.00606
2025-04-29 05:57:00 [debug] Stopped at height 0.006 mm
2025-04-29 05:57:00 [debug] Diagnostics for board 50:
2025-04-29 05:57:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:57:00 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:44:51 ago, cause: software
2025-04-29 05:57:00 [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
2025-04-29 05:57:00 [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
2025-04-29 05:57:00 [debug] Moves scheduled 26419, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=525, frequency (Hz): min=1578, max=15000
Sync err accum 65, peak jitter -2/1, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2073440662 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max
2025-04-29 05:57:00 [debug] Driver 0: pos -9609, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17964, writes 0 timeouts 0
2025-04-29 05:57:00 [debug] Last sensors broadcast 0x00000000 found 0 192 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 99, 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 367, adv 36194/37124
2025-04-29 05:57:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10421, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:57:00 [info] currentZPosition:0.00557
2025-04-29 05:57:01 [debug] Stopped at height 0.008 mm
2025-04-29 05:57:01 [debug] Diagnostics for board 50:
2025-04-29 05:57:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:57:01 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:44:52 ago, cause: software
2025-04-29 05:57:01 [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
2025-04-29 05:57:01 [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
2025-04-29 05:57:01 [debug] Moves scheduled 26423, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=554, frequency (Hz): min=930, max=15306
Sync err accum 72, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 2072453512 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, curr
2025-04-29 05:57:01 [debug] Driver 0: pos -9589, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15216, writes 11 timeouts 1
2025-04-29 05:57:01 [debug] Last sensors broadcast 0x00000000 found 0 8 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 85, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 353, adv 35888/37119
2025-04-29 05:57:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10315, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2268
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:57:01 [info] currentZPosition:0.00755
2025-04-29 05:57:01 [debug] Stopped at height 0.007 mm
2025-04-29 05:57:03 [debug] Stopped at height 0.006 mm
2025-04-29 05:57:03 [debug] Diagnostics for board 50:
2025-04-29 05:57:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:57:03 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:44:54 ago, cause: software
2025-04-29 05:57:03 [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
2025-04-29 05:57:03 [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
2025-04-29 05:57:03 [debug] Moves scheduled 26429, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 158, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=556, frequency (Hz): min=1666, max=15306
Sync err accum 81, peak jitter 0/2, peak Rx delay 214, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 2071050467 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:57:03 [debug] Driver 0: pos -9600, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 22316, writes 0 timeouts 0
2025-04-29 05:57:03 [debug] Last sensors broadcast 0x00000000 found 0 130 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 102, 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 455, adv 36030/37081
2025-04-29 05:57:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2268
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10376, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:57:03 [info] currentZPosition:0.00646
2025-04-29 05:57:04 [debug] Stopped at height 0.007 mm
2025-04-29 05:57:04 [debug] Diagnostics for board 50:
2025-04-29 05:57:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:57:04 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.9%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:44:55 ago, cause: software
2025-04-29 05:57:04 [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
2025-04-29 05:57:04 [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
2025-04-29 05:57:04 [debug] Moves scheduled 26433, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 323, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=598, frequency (Hz): min=1500, max=15625
Sync err accum 80, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2070028258 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max
2025-04-29 05:57:04 [debug] Driver 0: pos -9595, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15843, writes 0 timeouts 0
2025-04-29 05:57:04 [debug] Last sensors broadcast 0x00000000 found 0 243 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 85, 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 453, adv 36067/37053
2025-04-29 05:57:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10328, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:57:04 [info] currentZPosition:0.00696
2025-04-29 05:57:06 [debug] Stopped at height 0.007 mm
2025-04-29 05:57:06 [debug] Diagnostics for board 50:
2025-04-29 05:57:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:57:06 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:44:57 ago, cause: software
2025-04-29 05:57:06 [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
2025-04-29 05:57:06 [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
2025-04-29 05:57:06 [debug] Moves scheduled 26437, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=568, frequency (Hz): min=1420, max=15306
Sync err accum 72, peak jitter -2/-1, peak Rx delay 187, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2068883993 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 05:57:06 [debug] Driver 0: pos -9593, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17959, writes 0 timeouts 0
2025-04-29 05:57:06 [debug] Last sensors broadcast 0x00000000 found 0 19 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 88, 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 374, adv 35843/37152
2025-04-29 05:57:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10318, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4707, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:57:06 [info] currentZPosition:0.00726
2025-04-29 05:57:07 [debug] Stopped at height 0.007 mm
2025-04-29 05:57:07 [debug] Diagnostics for board 50:
2025-04-29 05:57:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:57:07 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:44:58 ago, cause: software
2025-04-29 05:57:07 [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
2025-04-29 05:57:07 [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
2025-04-29 05:57:07 [debug] Moves scheduled 26441, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=565, frequency (Hz): min=1420, max=16304
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 2067840257 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:57:07 [debug] Driver 0: pos -9600, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16163, writes 0 timeouts 0
2025-04-29 05:57:07 [debug] Last sensors broadcast 0x00000000 found 0 160 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 91, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36247/37142
2025-04-29 05:57:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2269
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10373, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4707, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:57:07 [info] currentZPosition:0.00656
2025-04-29 05:57:09 [debug] Stopped at height 0.006 mm
2025-04-29 05:57:09 [debug] Diagnostics for board 50:
2025-04-29 05:57:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:57:09 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:45:00 ago, cause: software
2025-04-29 05:57:09 [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
2025-04-29 05:57:09 [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
2025-04-29 05:57:09 [debug] Moves scheduled 26445, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=434, frequency (Hz): min=1644, max=15625
Sync err accum 71, peak jitter -2/3, peak Rx delay 189, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 2066677059 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:57:09 [debug] Driver 0: pos -9606, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18139, writes 0 timeouts 0
2025-04-29 05:57:09 [debug] Last sensors broadcast 0x00000000 found 0 212 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 93, 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 531, adv 35763/37095
2025-04-29 05:57:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10418, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:57:09 [info] currentZPosition:0.00596
2025-04-29 05:57:10 [debug] Stopped at height 0.007 mm
2025-04-29 05:57:10 [debug] Diagnostics for board 50:
2025-04-29 05:57:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:57:10 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:45:01 ago, cause: software
2025-04-29 05:57:10 [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
2025-04-29 05:57:10 [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
2025-04-29 05:57:10 [debug] Moves scheduled 26449, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=576, frequency (Hz): min=1297, max=15625
Sync err accum 79, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 2065663781 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:57:10 [debug] Driver 0: pos -9596, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15631, writes 0 timeouts 0
2025-04-29 05:57:10 [debug] Last sensors broadcast 0x00000000 found 0 62 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 87, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 35743/37136
2025-04-29 05:57:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10378, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:57:10 [info] currentZPosition:0.00696
2025-04-29 05:57:12 [debug] Stopped at height 0.006 mm
2025-04-29 05:57:12 [debug] Diagnostics for board 50:
2025-04-29 05:57:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:57:12 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:45:03 ago, cause: software
2025-04-29 05:57:12 [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
2025-04-29 05:57:12 [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
2025-04-29 05:57:12 [debug] Moves scheduled 26453, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=506, frequency (Hz): min=1599, max=15306
Sync err accum 85, peak jitter 0/2, peak Rx delay 189, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 2064500174 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:57:12 [debug] Driver 0: pos -9604, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18195, writes 0 timeouts 0
2025-04-29 05:57:12 [debug] Last sensors broadcast 0x00000000 found 0 113 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 92, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36298/37079
2025-04-29 05:57:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10385, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:57:12 [info] currentZPosition:0.00616
2025-04-29 05:57:13 [debug] Stopped at height 0.006 mm
2025-04-29 05:57:13 [debug] Diagnostics for board 50:
2025-04-29 05:57:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:57:13 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:45:04 ago, cause: software
2025-04-29 05:57:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 05:57:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 05:57:13 [debug] Moves scheduled 26457, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=488, frequency (Hz): min=700, max=15306
Sync err accum 88, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2063466691 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:57:13 [debug] Driver 0: pos -9604, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15955, writes 22 timeouts 2
2025-04-29 05:57:13 [debug] Last sensors broadcast 0x00000000 found 0 243 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 93, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 35872/37124
2025-04-29 05:57:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10387, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:57:13 [info] currentZPosition:0.00616
2025-04-29 05:57:14 [debug] Stopped at height 0.006 mm
2025-04-29 05:57:14 [debug] Diagnostics for board 50:
2025-04-29 05:57:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:57:14 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:45:06 ago, cause: software
2025-04-29 05:57:14 [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
2025-04-29 05:57:14 [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
2025-04-29 05:57:14 [debug] Moves scheduled 26461, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=649, frequency (Hz): min=1356, max=15306
Sync err accum 85, peak jitter -2/0, peak Rx delay 203, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 2062318101 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:57:14 [debug] Driver 0: pos -9601, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17902, writes 0 timeouts 0
2025-04-29 05:57:14 [debug] Last sensors broadcast 0x00000000 found 0 23 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 95, 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 388, adv 36178/37120
2025-04-29 05:57:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10358, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:57:15 [info] currentZPosition:0.00646
2025-04-29 05:57:16 [debug] Stopped at height 0.006 mm
2025-04-29 05:57:16 [debug] Diagnostics for board 50:
2025-04-29 05:57:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:57:16 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.0%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:45:07 ago, cause: software
2025-04-29 05:57:16 [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
2025-04-29 05:57:16 [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
2025-04-29 05:57:16 [debug] Moves scheduled 26465, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=521, frequency (Hz): min=1559, max=15306
Sync err accum 79, peak jitter -1/0, peak Rx delay 186, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 2061279826 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:57:16 [debug] Driver 0: pos -9606, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16035, writes 0 timeouts 0
2025-04-29 05:57:16 [debug] Last sensors broadcast 0x00000000 found 0 157 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 94, 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 381, adv 36127/37138
2025-04-29 05:57:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10399, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:57:16 [info] currentZPosition:0.00596
2025-04-29 05:57:17 [debug] Stopped at height 0.007 mm
2025-04-29 05:57:17 [debug] Diagnostics for board 50:
2025-04-29 05:57:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:57:17 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:45:09 ago, cause: software
2025-04-29 05:57:17 [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
2025-04-29 05:57:17 [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
2025-04-29 05:57:17 [debug] Moves scheduled 26469, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=646, frequency (Hz): min=1231, max=15306
Sync err accum 67, peak jitter -3/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2060157367 ticks, 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
2025-04-29 05:57:17 [debug] Driver 0: pos -9595, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17566, writes 0 timeouts 0
2025-04-29 05:57:17 [debug] Last sensors broadcast 0x00000000 found 0 154 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 86, 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 380, adv 36057/37155
2025-04-29 05:57:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10379, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:57:17 [info] currentZPosition:0.00706
2025-04-29 05:57:19 [debug] Stopped at height 0.007 mm
2025-04-29 05:57:19 [debug] Diagnostics for board 50:
2025-04-29 05:57:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:57:19 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:45:10 ago, cause: software
2025-04-29 05:57:19 [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
2025-04-29 05:57:19 [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
2025-04-29 05:57:19 [debug] Moves scheduled 26473, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=729, frequency (Hz): min=1190, max=15306
Sync err accum 62, peak jitter -2/1, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2059131752 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max
2025-04-29 05:57:19 [debug] Driver 0: pos -9593, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15946, writes 0 timeouts 0
2025-04-29 05:57:19 [debug] Last sensors broadcast 0x00000000 found 0 21 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 84, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 35600/37076
2025-04-29 05:57:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10354, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:57:19 [info] currentZPosition:0.00726
2025-04-29 05:57:20 [debug] Stopped at height 0.007 mm
2025-04-29 05:57:20 [debug] Diagnostics for board 50:
2025-04-29 05:57:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:57:20 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:45:12 ago, cause: software
2025-04-29 05:57:20 [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
2025-04-29 05:57:20 [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
2025-04-29 05:57:20 [debug] Moves scheduled 26477, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 564, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=738, frequency (Hz): min=791, max=15306
Sync err accum 78, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2057974860 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max 3
2025-04-29 05:57:20 [debug] Driver 0: pos -9598, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18156, writes 11 timeouts 1
2025-04-29 05:57:20 [debug] Last sensors broadcast 0x00000000 found 0 65 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 87, 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 396, adv 35943/37088
2025-04-29 05:57:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10336, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4707, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:57:20 [info] currentZPosition:0.00676
2025-04-29 05:57:22 [debug] Stopped at height 0.007 mm
2025-04-29 05:57:22 [debug] Diagnostics for board 50:
2025-04-29 05:57:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:57:22 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:45:13 ago, cause: software
2025-04-29 05:57:22 [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
2025-04-29 05:57:22 [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
2025-04-29 05:57:22 [debug] Moves scheduled 26481, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=492, frequency (Hz): min=1488, max=15306
Sync err accum 87, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 2056942106 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:57:22 [debug] Driver 0: pos -9598, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16100, writes 0 timeouts 0
2025-04-29 05:57:22 [debug] Last sensors broadcast 0x00000000 found 0 191 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 89, 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 357, adv 36309/37119
2025-04-29 05:57:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10373, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:57:22 [info] currentZPosition:0.00676
2025-04-29 05:57:23 [debug] Stopped at height 0.007 mm
2025-04-29 05:57:23 [debug] Diagnostics for board 50:
2025-04-29 05:57:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:57:23 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:45:14 ago, cause: software
2025-04-29 05:57:23 [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
2025-04-29 05:57:23 [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
2025-04-29 05:57:23 [debug] Moves scheduled 26485, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=705, frequency (Hz): min=1320, max=15306
Sync err accum 93, peak jitter 0/1, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2055796082 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max 
2025-04-29 05:57:23 [debug] Driver 0: pos -9598, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18060, writes 0 timeouts 0
2025-04-29 05:57:23 [debug] Last sensors broadcast 0x00000000 found 0 219 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 89, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 35631/37121
2025-04-29 05:57:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10377, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:57:23 [info] currentZPosition:0.00676
2025-04-29 05:57:25 [debug] Stopped at height 0.007 mm
2025-04-29 05:57:25 [debug] Diagnostics for board 50:
2025-04-29 05:57:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:57:25 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.6%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:45:16 ago, cause: software
2025-04-29 05:57:25 [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
2025-04-29 05:57:25 [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
2025-04-29 05:57:25 [debug] Moves scheduled 26489, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=556, frequency (Hz): min=1616, max=15306
Sync err accum 95, peak jitter -1/1, peak Rx delay 196, resyncs 0/0, next timer interrupt due in 1 ticks, disabled, next step interrupt due in 2054761290 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 05:57:25 [debug] Driver 0: pos -9599, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16095, writes 0 timeouts 0
2025-04-29 05:57:25 [debug] Last sensors broadcast 0x00000000 found 0 100 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 88, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 371, adv 36315/37170
2025-04-29 05:57:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10403, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:57:25 [info] currentZPosition:0.00666
2025-04-29 05:57:26 [debug] Stopped at height 0.007 mm
2025-04-29 05:57:26 [debug] Diagnostics for board 50:
2025-04-29 05:57:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:57:26 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:45:17 ago, cause: software
2025-04-29 05:57:26 [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
2025-04-29 05:57:26 [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
2025-04-29 05:57:26 [debug] Moves scheduled 26493, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=893, frequency (Hz): min=1023, max=15306
Sync err accum 91, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2053623007 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max
2025-04-29 05:57:26 [debug] Driver 0: pos -9595, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17792, writes 0 timeouts 0
2025-04-29 05:57:26 [debug] Last sensors broadcast 0x00000000 found 0 116 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 84, send timeouts 0, received 22, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 36310/37152
2025-04-29 05:57:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2268
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10357, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:57:26 [info] currentZPosition:0.00706
2025-04-29 05:57:27 [debug] Stopped at height 0.007 mm
2025-04-29 05:57:27 [debug] Diagnostics for board 50:
2025-04-29 05:57:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:57:27 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.8%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:45:19 ago, cause: software
2025-04-29 05:57:27 [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
2025-04-29 05:57:27 [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
2025-04-29 05:57:27 [debug] Moves scheduled 26497, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 369, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=526, frequency (Hz): min=536, max=15306
Sync err accum 85, peak jitter -2/0, peak Rx delay 206, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 2052592093 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:57:27 [debug] Driver 0: pos -9593, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15913, writes 11 timeouts 1
2025-04-29 05:57:27 [debug] Last sensors broadcast 0x00000000 found 0 239 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 83, 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 372, adv 35690/37092
2025-04-29 05:57:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10348, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:57:28 [info] currentZPosition:0.00726
2025-04-29 05:57:29 [debug] Stopped at height 0.006 mm
2025-04-29 05:57:29 [debug] Diagnostics for board 50:
2025-04-29 05:57:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:57:29 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:45:20 ago, cause: software
2025-04-29 05:57:29 [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
2025-04-29 05:57:29 [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
2025-04-29 05:57:29 [debug] Moves scheduled 26501, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=573, frequency (Hz): min=1425, max=15625
Sync err accum 73, peak jitter -3/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2051422142 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatu
2025-04-29 05:57:29 [debug] Driver 0: pos -9605, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18336, writes 0 timeouts 0
2025-04-29 05:57:29 [debug] Last sensors broadcast 0x00000000 found 0 50 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 96, 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 385, adv 36236/37080
2025-04-29 05:57:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10390, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:57:29 [info] currentZPosition:0.00606
2025-04-29 05:57:30 [debug] Stopped at height 0.006 mm
2025-04-29 05:57:30 [debug] Diagnostics for board 50:
2025-04-29 05:57:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:57:30 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:45:22 ago, cause: software
2025-04-29 05:57:30 [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
2025-04-29 05:57:30 [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
2025-04-29 05:57:30 [debug] Moves scheduled 26505, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 555, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=490, frequency (Hz): min=1376, max=15306
Sync err accum 60, peak jitter -3/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 2050397338 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:57:30 [debug] Driver 0: pos -9602, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15877, writes 0 timeouts 0
2025-04-29 05:57:30 [debug] Last sensors broadcast 0x00000000 found 0 167 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 90, 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 362, adv 35942/37153
2025-04-29 05:57:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10372, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:57:30 [info] currentZPosition:0.00636
2025-04-29 05:57:32 [debug] Stopped at height 0.006 mm
2025-04-29 05:57:32 [debug] Diagnostics for board 50:
2025-04-29 05:57:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:57:32 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:45:23 ago, cause: software
2025-04-29 05:57:32 [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
2025-04-29 05:57:32 [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
2025-04-29 05:57:32 [debug] Moves scheduled 26509, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 162, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=508, frequency (Hz): min=1515, max=26785
Sync err accum 77, peak jitter 1/3, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2049246771 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max 
2025-04-29 05:57:32 [debug] Driver 0: pos -9603, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17934, writes 0 timeouts 0
2025-04-29 05:57:32 [debug] Last sensors broadcast 0x00000000 found 0 202 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 95, 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 359, adv 36033/37115
2025-04-29 05:57:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10385, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:57:32 [info] currentZPosition:0.00626
2025-04-29 05:57:33 [debug] Stopped at height 0.006 mm
2025-04-29 05:57:33 [debug] Diagnostics for board 50:
2025-04-29 05:57:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:57:33 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.4%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:45:25 ago, cause: software
2025-04-29 05:57:33 [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
2025-04-29 05:57:33 [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
2025-04-29 05:57:33 [debug] Moves scheduled 26513, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=438, frequency (Hz): min=745, max=15306
Sync err accum 91, peak jitter 2/3, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2048218234 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-29 05:57:33 [debug] Driver 0: pos -9602, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15999, writes 11 timeouts 1
2025-04-29 05:57:33 [debug] Last sensors broadcast 0x00000000 found 0 71 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 95, 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 385, adv 36104/37088
2025-04-29 05:57:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10372, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:57:33 [info] currentZPosition:0.00636
2025-04-29 05:57:35 [debug] Stopped at height 0.007 mm
2025-04-29 05:57:35 [debug] Diagnostics for board 50:
2025-04-29 05:57:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:57:35 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:45:26 ago, cause: software
2025-04-29 05:57:35 [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
2025-04-29 05:57:35 [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
2025-04-29 05:57:35 [debug] Moves scheduled 26517, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=512, frequency (Hz): min=1644, max=15306
Sync err accum 105, peak jitter 2/2, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2047089352 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max
2025-04-29 05:57:35 [debug] Driver 0: pos -9595, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17690, writes 0 timeouts 0
2025-04-29 05:57:35 [debug] Last sensors broadcast 0x00000000 found 0 79 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 84, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 35904/37078
2025-04-29 05:57:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2268
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10349, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:57:35 [info] currentZPosition:0.00706
2025-04-29 05:57:36 [debug] Stopped at height 0.007 mm
2025-04-29 05:57:36 [debug] Diagnostics for board 50:
2025-04-29 05:57:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:57:36 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:45:27 ago, cause: software
2025-04-29 05:57:36 [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
2025-04-29 05:57:36 [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
2025-04-29 05:57:36 [debug] Moves scheduled 26521, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=534, frequency (Hz): min=889, max=15306
Sync err accum 112, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2046060789 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max 
2025-04-29 05:57:36 [debug] Driver 0: pos -9594, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16007, writes 11 timeouts 1
2025-04-29 05:57:36 [debug] Last sensors broadcast 0x00000000 found 0 201 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 83, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36316/37155
2025-04-29 05:57:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10362, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:57:36 [info] currentZPosition:0.00716
2025-04-29 05:57:38 [debug] Stopped at height 0.007 mm
2025-04-29 05:57:38 [debug] Diagnostics for board 50:
2025-04-29 05:57:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:57:38 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:45:29 ago, cause: software
2025-04-29 05:57:38 [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
2025-04-29 05:57:38 [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
2025-04-29 05:57:38 [debug] Moves scheduled 26525, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=652, frequency (Hz): min=1327, max=15306
Sync err accum 113, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 2044906844 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 05:57:38 [debug] Driver 0: pos -9600, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18190, writes 0 timeouts 0
2025-04-29 05:57:38 [debug] Last sensors broadcast 0x00000000 found 0 238 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 89, 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 473, adv 35728/37057
2025-04-29 05:57:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10383, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:57:38 [info] currentZPosition:0.00656
2025-04-29 05:57:39 [debug] Stopped at height 0.007 mm
2025-04-29 05:57:39 [debug] Diagnostics for board 50:
2025-04-29 05:57:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:57:39 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:45:30 ago, cause: software
2025-04-29 05:57:39 [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
2025-04-29 05:57:39 [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
2025-04-29 05:57:39 [debug] Moves scheduled 26529, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=546, frequency (Hz): min=1712, max=15306
Sync err accum 110, peak jitter -2/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2043875171 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatu
2025-04-29 05:57:39 [debug] Driver 0: pos -9600, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15971, writes 0 timeouts 0
2025-04-29 05:57:39 [debug] Last sensors broadcast 0x00000000 found 0 114 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 90, 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 388, adv 35723/37106
2025-04-29 05:57:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10389, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4711, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:57:39 [info] currentZPosition:0.00656
2025-04-29 05:57:41 [debug] Stopped at height 0.007 mm
2025-04-29 05:57:41 [debug] Diagnostics for board 50:
2025-04-29 05:57:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:57:41 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:45:32 ago, cause: software
2025-04-29 05:57:41 [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
2025-04-29 05:57:41 [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
2025-04-29 05:57:41 [debug] Moves scheduled 26533, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 560, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=530, frequency (Hz): min=1467, max=15306
Sync err accum 105, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 2042729726 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 05:57:41 [debug] Driver 0: pos -9597, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17905, writes 0 timeouts 0
2025-04-29 05:57:41 [debug] Last sensors broadcast 0x00000000 found 0 140 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 91, 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 711, adv 36323/37111
2025-04-29 05:57:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2269
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10359, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:57:41 [info] currentZPosition:0.00696
2025-04-29 05:57:42 [debug] Stopped at height 0.007 mm
2025-04-29 05:57:42 [debug] Diagnostics for board 50:
2025-04-29 05:57:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:57:42 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:45:33 ago, cause: software
2025-04-29 05:57:42 [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
2025-04-29 05:57:42 [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
2025-04-29 05:57:42 [debug] Moves scheduled 26537, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=441, frequency (Hz): min=1527, max=15306
Sync err accum 98, peak jitter -2/-1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2041702435 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, ma
2025-04-29 05:57:42 [debug] Driver 0: pos -9594, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15982, writes 0 timeouts 0
2025-04-29 05:57:42 [debug] Last sensors broadcast 0x00000000 found 0 10 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 88, 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 369, adv 35957/37126
2025-04-29 05:57:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10347, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2266
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:57:42 [info] currentZPosition:0.00736
2025-04-29 05:57:43 [debug] Stopped at height 0.007 mm
2025-04-29 05:57:43 [debug] Diagnostics for board 50:
2025-04-29 05:57:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:57:43 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:45:35 ago, cause: software
2025-04-29 05:57:43 [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
2025-04-29 05:57:43 [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
2025-04-29 05:57:43 [debug] Moves scheduled 26541, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=673, frequency (Hz): min=1258, max=15306
Sync err accum 82, peak jitter -2/-2, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2040564462 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, ma
2025-04-29 05:57:43 [debug] Driver 0: pos -9593, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17897, writes 0 timeouts 0
2025-04-29 05:57:43 [debug] Last sensors broadcast 0x00000000 found 0 31 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 86, 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 387, adv 36156/37109
2025-04-29 05:57:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10327, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:57:44 [info] currentZPosition:0.00746
2025-04-29 05:57:45 [debug] Stopped at height 0.007 mm
2025-04-29 05:57:45 [debug] Diagnostics for board 50:
2025-04-29 05:57:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:57:45 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:45:36 ago, cause: software
2025-04-29 05:57:45 [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
2025-04-29 05:57:45 [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
2025-04-29 05:57:45 [debug] Moves scheduled 26545, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=500, frequency (Hz): min=1789, max=15306
Sync err accum 67, peak jitter -3/-2, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2039520434 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, ma
2025-04-29 05:57:45 [debug] Driver 0: pos -9598, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16273, writes 0 timeouts 0
2025-04-29 05:57:45 [debug] Last sensors broadcast 0x00000000 found 0 170 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 89, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 36163/37168
2025-04-29 05:57:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2268
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10354, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4708, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:57:45 [info] currentZPosition:0.00696
2025-04-29 05:57:46 [debug] Stopped at height 0.006 mm
2025-04-29 05:57:46 [debug] Diagnostics for board 50:
2025-04-29 05:57:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:57:46 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:45:38 ago, cause: software
2025-04-29 05:57:46 [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
2025-04-29 05:57:46 [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
2025-04-29 05:57:46 [debug] Moves scheduled 26549, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=577, frequency (Hz): min=1322, max=15306
Sync err accum 69, peak jitter -4/3, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2038366334 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max
2025-04-29 05:57:46 [debug] Driver 0: pos -9603, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18022, writes 0 timeouts 0
2025-04-29 05:57:46 [debug] Last sensors broadcast 0x00000000 found 0 209 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 90, 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 434, adv 36043/37080
2025-04-29 05:57:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10369, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:57:47 [info] currentZPosition:0.00646
2025-04-29 05:57:48 [debug] Stopped at height 0.006 mm
2025-04-29 05:57:48 [debug] Diagnostics for board 50:
2025-04-29 05:57:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:57:48 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.1%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:45:39 ago, cause: software
2025-04-29 05:57:48 [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
2025-04-29 05:57:48 [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
2025-04-29 05:57:48 [debug] Moves scheduled 26553, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=636, frequency (Hz): min=1299, max=15625
Sync err accum 78, peak jitter 1/2, peak Rx delay 187, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2037327721 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max 
2025-04-29 05:57:48 [debug] Driver 0: pos -9607, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16050, writes 0 timeouts 0
2025-04-29 05:57:48 [debug] Last sensors broadcast 0x00000000 found 0 97 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 94, 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 395, adv 36344/37143
2025-04-29 05:57:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10393, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:57:48 [info] currentZPosition:0.00606
2025-04-29 05:57:49 [debug] Stopped at height 0.007 mm
2025-04-29 05:57:49 [debug] Diagnostics for board 50:
2025-04-29 05:57:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:57:49 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.1%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:45:41 ago, cause: software
2025-04-29 05:57:49 [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
2025-04-29 05:57:49 [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
2025-04-29 05:57:49 [debug] Moves scheduled 26557, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=540, frequency (Hz): min=1619, max=15306
Sync err accum 87, peak jitter 1/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2036205971 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 05:57:49 [debug] Driver 0: pos -9594, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17545, writes 0 timeouts 0
2025-04-29 05:57:49 [debug] Last sensors broadcast 0x00000000 found 0 89 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 85, 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 376, adv 35888/37095
2025-04-29 05:57:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2269
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10325, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:57:49 [info] currentZPosition:0.00736
2025-04-29 05:57:50 [debug] Stopped at height 0.005 mm
2025-04-29 05:57:51 [debug] Stopped at height 0.007 mm
2025-04-29 05:57:51 [debug] Diagnostics for board 50:
2025-04-29 05:57:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:57:51 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.0%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:45:42 ago, cause: software
2025-04-29 05:57:51 [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
2025-04-29 05:57:51 [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
2025-04-29 05:57:51 [debug] Moves scheduled 26563, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=524, frequency (Hz): min=1428, max=15306
Sync err accum 87, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 2034929945 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:57:51 [debug] Driver 0: pos -9600, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 19987, writes 0 timeouts 0
2025-04-29 05:57:51 [debug] Last sensors broadcast 0x00000000 found 0 41 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 113, 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 366, adv 35828/37123
2025-04-29 05:57:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10384, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4709, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:57:51 [info] currentZPosition:0.00676
2025-04-29 05:57:51 [debug] Stopped at height 0.006 mm
2025-04-29 05:57:53 [debug] Stopped at height 0.008 mm
2025-04-29 05:57:53 [debug] Diagnostics for board 50:
2025-04-29 05:57:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:57:53 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:45:44 ago, cause: software
2025-04-29 05:57:53 [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
2025-04-29 05:57:53 [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
2025-04-29 05:57:53 [debug] Moves scheduled 26569, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 247, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=525, frequency (Hz): min=1666, max=15306
Sync err accum 86, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 2033569858 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:57:53 [debug] Driver 0: pos -9591, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 21545, writes 0 timeouts 0
2025-04-29 05:57:53 [debug] Last sensors broadcast 0x00000000 found 0 104 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 103, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 35722/37139
2025-04-29 05:57:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10353, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:57:53 [info] currentZPosition:0.00775
2025-04-29 05:57:53 [debug] Stopped at height 0.006 mm
2025-04-29 05:57:54 [debug] Stopped at height 0.007 mm
2025-04-29 05:57:54 [debug] Diagnostics for board 50:
2025-04-29 05:57:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:57:54 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:45:46 ago, cause: software
2025-04-29 05:57:54 [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
2025-04-29 05:57:54 [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
2025-04-29 05:57:54 [debug] Moves scheduled 26575, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 306, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=452, frequency (Hz): min=1748, max=15306
Sync err accum 77, peak jitter -2/-1, peak Rx delay 201, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2032294907 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, ma
2025-04-29 05:57:54 [debug] Driver 0: pos -9595, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20099, writes 0 timeouts 0
2025-04-29 05:57:54 [debug] Last sensors broadcast 0x00000000 found 0 54 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 98, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36081/37126
2025-04-29 05:57:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2268
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10339, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:57:55 [info] currentZPosition:0.00736
2025-04-29 05:57:56 [debug] Stopped at height 0.007 mm
2025-04-29 05:57:56 [debug] Diagnostics for board 50:
2025-04-29 05:57:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:57:56 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:45:47 ago, cause: software
2025-04-29 05:57:56 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 05:57:56 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 05:57:56 [debug] Moves scheduled 26579, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 350, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=481, frequency (Hz): min=566, max=15306
Sync err accum 63, peak jitter -3/-1, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2031153969 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max
2025-04-29 05:57:56 [debug] Driver 0: pos -9595, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17779, writes 11 timeouts 1
2025-04-29 05:57:56 [debug] Last sensors broadcast 0x00000000 found 0 73 ticks ago, 0 ordering errs, loop time 2
CAN messages queued 84, 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 389, adv 36302/37146
2025-04-29 05:57:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10363, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:57:56 [info] currentZPosition:0.00746
2025-04-29 05:57:57 [debug] Stopped at height 0.007 mm
2025-04-29 05:57:57 [debug] Diagnostics for board 50:
2025-04-29 05:57:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:57:57 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.5%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:45:49 ago, cause: software
2025-04-29 05:57:57 [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
2025-04-29 05:57:57 [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
2025-04-29 05:57:57 [debug] Moves scheduled 26583, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=528, frequency (Hz): min=1693, max=15625
Sync err accum 69, peak jitter -1/2, peak Rx delay 222, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 2030106321 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:57:57 [debug] Driver 0: pos -9601, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16335, writes 0 timeouts 0
2025-04-29 05:57:57 [debug] Last sensors broadcast 0x00000000 found 0 223 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 87, 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 651, adv 36203/37062
2025-04-29 05:57:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10381, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:57:58 [info] currentZPosition:0.00686
2025-04-29 05:57:59 [debug] Stopped at height 0.006 mm
2025-04-29 05:57:59 [debug] Diagnostics for board 50:
2025-04-29 05:57:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:57:59 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:45:50 ago, cause: software
2025-04-29 05:57:59 [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
2025-04-29 05:57:59 [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
2025-04-29 05:57:59 [debug] Moves scheduled 26587, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=477, frequency (Hz): min=1637, max=15625
Sync err accum 73, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2028953075 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max 
2025-04-29 05:57:59 [debug] Driver 0: pos -9605, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18002, writes 0 timeouts 0
2025-04-29 05:57:59 [debug] Last sensors broadcast 0x00000000 found 0 11 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 97, 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 921, adv 36159/37083
2025-04-29 05:57:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10412, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:57:59 [info] currentZPosition:0.00646
2025-04-29 05:58:00 [debug] Stopped at height 0.007 mm
2025-04-29 05:58:00 [debug] Diagnostics for board 50:
2025-04-29 05:58:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:58:00 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.7%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:45:52 ago, cause: software
2025-04-29 05:58:00 [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
2025-04-29 05:58:00 [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
2025-04-29 05:58:00 [debug] Moves scheduled 26591, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=521, frequency (Hz): min=709, max=15306
Sync err accum 74, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 2027935260 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, curr
2025-04-29 05:58:00 [debug] Driver 0: pos -9598, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15792, writes 11 timeouts 1
2025-04-29 05:58:00 [debug] Last sensors broadcast 0x00000000 found 0 117 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 84, send timeouts 0, received 22, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 35672/37122
2025-04-29 05:58:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10333, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:58:00 [info] currentZPosition:0.00716
2025-04-29 05:58:02 [debug] Stopped at height 0.007 mm
2025-04-29 05:58:02 [debug] Diagnostics for board 50:
2025-04-29 05:58:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:58:02 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:45:53 ago, cause: software
2025-04-29 05:58:02 [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
2025-04-29 05:58:02 [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
2025-04-29 05:58:02 [debug] Moves scheduled 26595, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=554, frequency (Hz): min=1515, max=15306
Sync err accum 72, peak jitter -1/1, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 4294967222 ticks, disabled, next step interrupt due in 2026784498 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min
2025-04-29 05:58:02 [debug] Driver 0: pos -9604, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17918, writes 11 timeouts 1
2025-04-29 05:58:02 [debug] Last sensors broadcast 0x00000000 found 0 148 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 95, 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 371, adv 36002/37109
2025-04-29 05:58:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10399, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:58:02 [info] currentZPosition:0.00656
2025-04-29 05:58:03 [debug] Stopped at height 0.007 mm
2025-04-29 05:58:03 [debug] Diagnostics for board 50:
2025-04-29 05:58:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:58:03 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.9%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:45:54 ago, cause: software
2025-04-29 05:58:03 [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
2025-04-29 05:58:03 [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
2025-04-29 05:58:03 [debug] Moves scheduled 26599, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 162, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=528, frequency (Hz): min=770, max=15306
Sync err accum 67, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2025773767 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:58:03 [debug] Driver 0: pos -9595, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15703, writes 0 timeouts 0
2025-04-29 05:58:03 [debug] Last sensors broadcast 0x00000000 found 0 249 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 89, 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 428, adv 35754/37083
2025-04-29 05:58:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10339, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4707, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:58:03 [info] currentZPosition:0.00746
2025-04-29 05:58:05 [debug] Stopped at height 0.007 mm
2025-04-29 05:58:05 [debug] Diagnostics for board 50:
2025-04-29 05:58:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:58:05 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:45:56 ago, cause: software
2025-04-29 05:58:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 05:58:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 05:58:05 [debug] Moves scheduled 26603, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 161, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=601, frequency (Hz): min=533, max=15306
Sync err accum 67, peak jitter -2/2, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2024627176 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max 
2025-04-29 05:58:05 [debug] Driver 0: pos -9598, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17936, writes 11 timeouts 1
2025-04-29 05:58:05 [debug] Last sensors broadcast 0x00000000 found 0 29 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 88, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 398, adv 35827/37092
2025-04-29 05:58:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10334, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:58:05 [info] currentZPosition:0.00716
2025-04-29 05:58:06 [debug] Stopped at height 0.007 mm
2025-04-29 05:58:06 [debug] Diagnostics for board 50:
2025-04-29 05:58:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:58:06 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.6%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:45:57 ago, cause: software
2025-04-29 05:58:06 [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
2025-04-29 05:58:06 [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
2025-04-29 05:58:06 [debug] Moves scheduled 26607, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=493, frequency (Hz): min=1572, max=15306
Sync err accum 79, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2023600552 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max 
2025-04-29 05:58:06 [debug] Driver 0: pos -9595, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15946, writes 0 timeouts 0
2025-04-29 05:58:06 [debug] Last sensors broadcast 0x00000000 found 0 150 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 88, 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 473, adv 36076/37096
2025-04-29 05:58:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10364, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2268
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:58:06 [info] currentZPosition:0.00746
2025-04-29 05:58:08 [debug] Stopped at height 0.007 mm
2025-04-29 05:58:08 [debug] Diagnostics for board 50:
2025-04-29 05:58:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:58:08 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:45:59 ago, cause: software
2025-04-29 05:58:08 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 05:58:08 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 05:58:08 [debug] Moves scheduled 26611, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=768, frequency (Hz): min=664, max=15306
Sync err accum 88, peak jitter 1/2, peak Rx delay 189, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2022447687 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-29 05:58:08 [debug] Driver 0: pos -9601, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17971, writes 11 timeouts 1
2025-04-29 05:58:08 [debug] Last sensors broadcast 0x00000000 found 0 181 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 87, 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 457, adv 35681/37069
2025-04-29 05:58:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10402, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:58:08 [info] currentZPosition:0.00686
2025-04-29 05:58:09 [debug] Stopped at height 0.007 mm
2025-04-29 05:58:09 [debug] Diagnostics for board 50:
2025-04-29 05:58:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:58:09 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:46:00 ago, cause: software
2025-04-29 05:58:09 [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
2025-04-29 05:58:09 [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
2025-04-29 05:58:09 [debug] Moves scheduled 26615, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=546, frequency (Hz): min=1524, max=15306
Sync err accum 96, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2021417456 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 05:58:09 [debug] Driver 0: pos -9601, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15973, writes 0 timeouts 0
2025-04-29 05:58:09 [debug] Last sensors broadcast 0x00000000 found 0 56 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 86, 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 371, adv 36207/37126
2025-04-29 05:58:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10407, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:58:09 [info] currentZPosition:0.00686
2025-04-29 05:58:11 [debug] Stopped at height 0.007 mm
2025-04-29 05:58:11 [debug] Diagnostics for board 50:
2025-04-29 05:58:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:58:11 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:46:02 ago, cause: software
2025-04-29 05:58:11 [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
2025-04-29 05:58:11 [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
2025-04-29 05:58:11 [debug] Moves scheduled 26619, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 165, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=526, frequency (Hz): min=1431, max=15306
Sync err accum 95, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2020289583 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max
2025-04-29 05:58:11 [debug] Driver 0: pos -9595, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17649, writes 0 timeouts 0
2025-04-29 05:58:11 [debug] Last sensors broadcast 0x00000000 found 0 64 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 89, 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 422, adv 36275/37146
2025-04-29 05:58:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10339, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:58:11 [info] currentZPosition:0.00746
2025-04-29 05:58:12 [debug] Stopped at height 0.007 mm
2025-04-29 05:58:12 [debug] Diagnostics for board 50:
2025-04-29 05:58:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:58:12 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:46:03 ago, cause: software
2025-04-29 05:58:12 [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
2025-04-29 05:58:12 [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
2025-04-29 05:58:12 [debug] Moves scheduled 26623, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=613, frequency (Hz): min=1540, max=15306
Sync err accum 91, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2019239736 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max
2025-04-29 05:58:12 [debug] Driver 0: pos -9603, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16277, writes 0 timeouts 0
2025-04-29 05:58:12 [debug] Last sensors broadcast 0x00000000 found 0 211 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 89, 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 386, adv 35656/37127
2025-04-29 05:58:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10394, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:58:12 [info] currentZPosition:0.00666
2025-04-29 05:58:13 [debug] Stopped at height 0.007 mm
2025-04-29 05:58:13 [debug] Diagnostics for board 50:
2025-04-29 05:58:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:58:13 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:46:05 ago, cause: software
2025-04-29 05:58:13 [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
2025-04-29 05:58:13 [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
2025-04-29 05:58:13 [debug] Moves scheduled 26627, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=530, frequency (Hz): min=1381, max=15306
Sync err accum 79, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2018107481 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max
2025-04-29 05:58:13 [debug] Driver 0: pos -9598, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17721, writes 0 timeouts 0
2025-04-29 05:58:13 [debug] Last sensors broadcast 0x00000000 found 0 221 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 90, 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 438, adv 36176/37080
2025-04-29 05:58:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10335, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:58:14 [info] currentZPosition:0.00726
2025-04-29 05:58:15 [debug] Stopped at height 0.008 mm
2025-04-29 05:58:15 [debug] Diagnostics for board 50:
2025-04-29 05:58:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:58:15 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:46:06 ago, cause: software
2025-04-29 05:58:15 [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
2025-04-29 05:58:15 [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
2025-04-29 05:58:15 [debug] Moves scheduled 26631, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 162, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=533, frequency (Hz): min=1595, max=15306
Sync err accum 65, peak jitter -3/-2, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2017090035 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, ma
2025-04-29 05:58:15 [debug] Driver 0: pos -9592, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15848, writes 0 timeouts 0
2025-04-29 05:58:15 [debug] Last sensors broadcast 0x00000000 found 0 80 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 84, 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 396, adv 35915/37075
2025-04-29 05:58:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10335, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:58:15 [info] currentZPosition:0.00785
2025-04-29 05:58:16 [debug] Stopped at height 0.007 mm
2025-04-29 05:58:16 [debug] Diagnostics for board 50:
2025-04-29 05:58:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:58:16 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:46:08 ago, cause: software
2025-04-29 05:58:16 [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
2025-04-29 05:58:16 [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
2025-04-29 05:58:16 [debug] Moves scheduled 26635, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=493, frequency (Hz): min=1599, max=15306
Sync err accum 67, peak jitter -2/3, peak Rx delay 171, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2015926142 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max
2025-04-29 05:58:16 [debug] Driver 0: pos -9604, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18229, writes 0 timeouts 0
2025-04-29 05:58:16 [debug] Last sensors broadcast 0x00000000 found 0 129 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 91, 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 389, adv 35985/37125
2025-04-29 05:58:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10379, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:58:16 [info] currentZPosition:0.00666
2025-04-29 05:58:18 [debug] Stopped at height 0.007 mm
2025-04-29 05:58:18 [debug] Diagnostics for board 50:
2025-04-29 05:58:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:58:18 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:46:09 ago, cause: software
2025-04-29 05:58:18 [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
2025-04-29 05:58:18 [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
2025-04-29 05:58:18 [debug] Moves scheduled 26639, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=526, frequency (Hz): min=840, max=15306
Sync err accum 82, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2014904249 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max 3
2025-04-29 05:58:18 [debug] Driver 0: pos -9597, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15803, writes 11 timeouts 1
2025-04-29 05:58:18 [debug] Last sensors broadcast 0x00000000 found 0 242 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 87, 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 412, adv 36353/37146
2025-04-29 05:58:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2269
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10378, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:58:18 [info] currentZPosition:0.00736
2025-04-29 05:58:19 [debug] Stopped at height 0.008 mm
2025-04-29 05:58:19 [debug] Diagnostics for board 50:
2025-04-29 05:58:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:58:19 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:46:10 ago, cause: software
2025-04-29 05:58:19 [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
2025-04-29 05:58:19 [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
2025-04-29 05:58:19 [debug] Moves scheduled 26643, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=448, frequency (Hz): min=714, max=15625
Sync err accum 89, peak jitter 0/2, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2013770058 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max 3
2025-04-29 05:58:19 [debug] Driver 0: pos -9594, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17743, writes 11 timeouts 1
2025-04-29 05:58:19 [debug] Last sensors broadcast 0x00000000 found 0 5 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 86, 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 359, adv 35838/37131
2025-04-29 05:58:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10361, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:58:19 [info] currentZPosition:0.00765
2025-04-29 05:58:21 [debug] Stopped at height 0.007 mm
2025-04-29 05:58:21 [debug] Diagnostics for board 50:
2025-04-29 05:58:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:58:21 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:46:12 ago, cause: software
2025-04-29 05:58:21 [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
2025-04-29 05:58:21 [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
2025-04-29 05:58:21 [debug] Moves scheduled 26647, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=601, frequency (Hz): min=1293, max=15306
Sync err accum 92, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 2012731725 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:58:21 [debug] Driver 0: pos -9598, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16152, writes 0 timeouts 0
2025-04-29 05:58:21 [debug] Last sensors broadcast 0x00000000 found 0 138 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 86, 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 366, adv 36055/37090
2025-04-29 05:58:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10347, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:58:21 [info] currentZPosition:0.00726
2025-04-29 05:58:22 [debug] Stopped at height 0.007 mm
2025-04-29 05:58:22 [debug] Diagnostics for board 50:
2025-04-29 05:58:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:58:22 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:46:13 ago, cause: software
2025-04-29 05:58:22 [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
2025-04-29 05:58:22 [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
2025-04-29 05:58:22 [debug] Moves scheduled 26651, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=624, frequency (Hz): min=1497, max=22727
Sync err accum 90, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 2011590288 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:58:22 [debug] Driver 0: pos -9598, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17829, writes 0 timeouts 0
2025-04-29 05:58:22 [debug] Last sensors broadcast 0x00000000 found 0 160 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 87, 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 1016, adv 35749/37121
2025-04-29 05:58:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10338, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:58:22 [info] currentZPosition:0.00726
2025-04-29 05:58:23 [debug] Stopped at height 0.007 mm
2025-04-29 05:58:23 [debug] Diagnostics for board 50:
2025-04-29 05:58:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:58:23 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:46:15 ago, cause: software
2025-04-29 05:58:23 [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
2025-04-29 05:58:23 [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
2025-04-29 05:58:23 [debug] Moves scheduled 26655, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=502, frequency (Hz): min=762, max=15306
Sync err accum 84, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 2010548513 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:58:23 [debug] Driver 0: pos -9604, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16138, writes 11 timeouts 1
2025-04-29 05:58:23 [debug] Last sensors broadcast 0x00000000 found 0 48 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 91, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36324/37115
2025-04-29 05:58:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10398, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:58:24 [info] currentZPosition:0.00666
2025-04-29 05:58:25 [debug] Stopped at height 0.007 mm
2025-04-29 05:58:25 [debug] Diagnostics for board 50:
2025-04-29 05:58:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:58:25 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:46:16 ago, cause: software
2025-04-29 05:58:25 [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
2025-04-29 05:58:25 [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
2025-04-29 05:58:25 [debug] Moves scheduled 26659, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 348, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=493, frequency (Hz): min=1605, max=15306
Sync err accum 71, peak jitter -2/-1, peak Rx delay 184, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2009413893 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, ma
2025-04-29 05:58:25 [debug] Driver 0: pos -9602, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17778, writes 0 timeouts 0
2025-04-29 05:58:25 [debug] Last sensors broadcast 0x00000000 found 0 62 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 94, 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 383, adv 36265/37129
2025-04-29 05:58:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10399, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2268
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:58:25 [info] currentZPosition:0.00686
2025-04-29 05:58:26 [debug] Stopped at height 0.006 mm
2025-04-29 05:58:26 [debug] Diagnostics for board 50:
2025-04-29 05:58:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:58:26 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.0%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:46:18 ago, cause: software
2025-04-29 05:58:26 [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
2025-04-29 05:58:26 [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
2025-04-29 05:58:26 [debug] Moves scheduled 26663, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=558, frequency (Hz): min=790, max=15306
Sync err accum 61, peak jitter -3/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2008362822 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max 
2025-04-29 05:58:26 [debug] Driver 0: pos -9611, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16253, writes 11 timeouts 1
2025-04-29 05:58:26 [debug] Last sensors broadcast 0x00000000 found 0 214 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 102, 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 366, adv 35771/37122
2025-04-29 05:58:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10438, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:58:27 [info] currentZPosition:0.00596
2025-04-29 05:58:28 [debug] Stopped at height 0.006 mm
2025-04-29 05:58:28 [debug] Diagnostics for board 50:
2025-04-29 05:58:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:58:28 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:46:19 ago, cause: software
2025-04-29 05:58:28 [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
2025-04-29 05:58:28 [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
2025-04-29 05:58:28 [debug] Moves scheduled 26667, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 161, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=526, frequency (Hz): min=1720, max=15306
Sync err accum 71, peak jitter 0/3, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2007220940 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max 
2025-04-29 05:58:28 [debug] Driver 0: pos -9610, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17843, writes 0 timeouts 0
2025-04-29 05:58:28 [debug] Last sensors broadcast 0x00000000 found 0 238 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 103, 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 380, adv 36112/37101
2025-04-29 05:58:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10414, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:58:28 [info] currentZPosition:0.00606
2025-04-29 05:58:29 [debug] Stopped at height 0.008 mm
2025-04-29 05:58:29 [debug] Diagnostics for board 50:
2025-04-29 05:58:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:58:29 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:46:21 ago, cause: software
2025-04-29 05:58:29 [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
2025-04-29 05:58:29 [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
2025-04-29 05:58:29 [debug] Moves scheduled 26671, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 441, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=485, frequency (Hz): min=1521, max=15306
Sync err accum 82, peak jitter 1/3, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 2006216948 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:58:29 [debug] Driver 0: pos -9595, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15527, writes 0 timeouts 0
2025-04-29 05:58:29 [debug] Last sensors broadcast 0x00000000 found 0 75 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 86, send timeouts 0, received 22, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 35904/37114
2025-04-29 05:58:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10366, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2268
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:58:29 [info] currentZPosition:0.00755
2025-04-29 05:58:30 [debug] Stopped at height 0.006 mm
2025-04-29 05:58:31 [debug] Stopped at height 0.007 mm
2025-04-29 05:58:31 [debug] Diagnostics for board 50:
2025-04-29 05:58:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:58:31 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:46:22 ago, cause: software
2025-04-29 05:58:31 [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
2025-04-29 05:58:31 [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
2025-04-29 05:58:31 [debug] Moves scheduled 26677, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 311, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=493, frequency (Hz): min=1592, max=15625
Sync err accum 91, peak jitter 0/2, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2004828844 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max 
2025-04-29 05:58:31 [debug] Driver 0: pos -9603, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 21876, writes 0 timeouts 0
2025-04-29 05:58:31 [debug] Last sensors broadcast 0x00000000 found 0 176 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 110, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 35981/37109
2025-04-29 05:58:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10370, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:58:31 [info] currentZPosition:0.00686
2025-04-29 05:58:32 [debug] Stopped at height 0.008 mm
2025-04-29 05:58:32 [debug] Diagnostics for board 50:
2025-04-29 05:58:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:58:32 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.7%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:46:24 ago, cause: software
2025-04-29 05:58:32 [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
2025-04-29 05:58:32 [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
2025-04-29 05:58:32 [debug] Moves scheduled 26681, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 162, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=461, frequency (Hz): min=1630, max=15306
Sync err accum 92, peak jitter -1/1, peak Rx delay 192, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 2003821104 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:58:32 [debug] Driver 0: pos -9592, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15655, writes 0 timeouts 0
2025-04-29 05:58:32 [debug] Last sensors broadcast 0x00000000 found 0 19 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 85, 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 469, adv 36111/37128
2025-04-29 05:58:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10329, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:58:33 [info] currentZPosition:0.00795
2025-04-29 05:58:34 [debug] Stopped at height 0.007 mm
2025-04-29 05:58:34 [debug] Diagnostics for board 50:
2025-04-29 05:58:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:58:34 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:46:25 ago, cause: software
2025-04-29 05:58:34 [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
2025-04-29 05:58:34 [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
2025-04-29 05:58:34 [debug] Moves scheduled 26685, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=493, frequency (Hz): min=1744, max=15306
Sync err accum 89, peak jitter -2/0, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2002671484 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max
2025-04-29 05:58:34 [debug] Driver 0: pos -9598, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18032, writes 0 timeouts 0
2025-04-29 05:58:34 [debug] Last sensors broadcast 0x00000000 found 0 52 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 90, 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 376, adv 35798/37132
2025-04-29 05:58:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10324, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4707, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:58:34 [info] currentZPosition:0.00736
2025-04-29 05:58:35 [debug] Stopped at height 0.008 mm
2025-04-29 05:58:35 [debug] Diagnostics for board 50:
2025-04-29 05:58:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:58:35 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.8%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:46:27 ago, cause: software
2025-04-29 05:58:35 [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
2025-04-29 05:58:35 [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
2025-04-29 05:58:35 [debug] Moves scheduled 26689, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 271, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=493, frequency (Hz): min=1798, max=15306
Sync err accum 82, peak jitter -2/0, peak Rx delay 213, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 2001655977 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max
2025-04-29 05:58:35 [debug] Driver 0: pos -9589, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15740, writes 0 timeouts 0
2025-04-29 05:58:35 [debug] Last sensors broadcast 0x00000000 found 0 155 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 83, 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 534, adv 36346/37088
2025-04-29 05:58:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10327, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:58:35 [info] currentZPosition:0.00825
2025-04-29 05:58:37 [debug] Stopped at height 0.007 mm
2025-04-29 05:58:37 [debug] Diagnostics for board 50:
2025-04-29 05:58:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:58:37 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:46:28 ago, cause: software
2025-04-29 05:58:37 [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
2025-04-29 05:58:37 [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
2025-04-29 05:58:37 [debug] Moves scheduled 26693, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=445, frequency (Hz): min=1681, max=15306
Sync err accum 71, peak jitter -2/-1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, CC0 mismatch!!, next step interrupt due in 2000487847 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatu
2025-04-29 05:58:37 [debug] Driver 0: pos -9606, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18303, writes 0 timeouts 0
2025-04-29 05:58:37 [debug] Last sensors broadcast 0x00000000 found 0 213 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 94, 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 357, adv 35675/37140
2025-04-29 05:58:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10384, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:58:37 [info] currentZPosition:0.00656
2025-04-29 05:58:37 [debug] Stopped at height 0.006 mm
2025-04-29 05:58:39 [debug] Stopped at height 0.007 mm
2025-04-29 05:58:39 [debug] Diagnostics for board 50:
2025-04-29 05:58:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:58:39 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.3%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:46:30 ago, cause: software
2025-04-29 05:58:39 [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
2025-04-29 05:58:39 [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
2025-04-29 05:58:39 [debug] Moves scheduled 26699, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=576, frequency (Hz): min=1521, max=15306
Sync err accum 59, peak jitter -2/0, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 1999222432 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:58:39 [debug] Driver 0: pos -9605, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 19757, writes 0 timeouts 0
2025-04-29 05:58:39 [debug] Last sensors broadcast 0x00000000 found 0 149 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 106, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 35837/37126
2025-04-29 05:58:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10429, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4708, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:58:39 [info] currentZPosition:0.00666
2025-04-29 05:58:40 [debug] Stopped at height 0.008 mm
2025-04-29 05:58:40 [debug] Diagnostics for board 50:
2025-04-29 05:58:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:58:40 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:46:31 ago, cause: software
2025-04-29 05:58:40 [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
2025-04-29 05:58:40 [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
2025-04-29 05:58:40 [debug] Moves scheduled 26703, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 305, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=528, frequency (Hz): min=1356, max=15306
Sync err accum 74, peak jitter 1/3, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 4294967244 ticks, disabled, CC0 mismatch!!, next step interrupt due in 1998105954 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU t
2025-04-29 05:58:40 [debug] Driver 0: pos -9591, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17446, writes 0 timeouts 0
2025-04-29 05:58:40 [debug] Last sensors broadcast 0x00000000 found 0 139 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 84, 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 376, adv 36282/37079
2025-04-29 05:58:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10351, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:58:40 [info] currentZPosition:0.00805
2025-04-29 05:58:41 [debug] Stopped at height 0.007 mm
2025-04-29 05:58:42 [debug] Stopped at height 0.008 mm
2025-04-29 05:58:42 [debug] Diagnostics for board 50:
2025-04-29 05:58:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:58:42 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.8%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:46:33 ago, cause: software
2025-04-29 05:58:42 [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
2025-04-29 05:58:42 [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
2025-04-29 05:58:42 [debug] Moves scheduled 26709, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 328, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=460, frequency (Hz): min=1518, max=15625
Sync err accum 83, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1996842289 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max 
2025-04-29 05:58:42 [debug] Driver 0: pos -9593, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 19829, writes 0 timeouts 0
2025-04-29 05:58:42 [debug] Last sensors broadcast 0x00000000 found 0 73 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 98, 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 701, adv 36010/37136
2025-04-29 05:58:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10327, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:58:42 [info] currentZPosition:0.00785
2025-04-29 05:58:43 [debug] Stopped at height 0.008 mm
2025-04-29 05:58:43 [debug] Diagnostics for board 50:
2025-04-29 05:58:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:58:43 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:46:35 ago, cause: software
2025-04-29 05:58:43 [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
2025-04-29 05:58:43 [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
2025-04-29 05:58:43 [debug] Moves scheduled 26713, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 160, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=550, frequency (Hz): min=1524, max=15306
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 1995706335 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:58:43 [debug] Driver 0: pos -9593, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17745, writes 0 timeouts 0
2025-04-29 05:58:43 [debug] Last sensors broadcast 0x00000000 found 0 87 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 87, send timeouts 0, received 22, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36104/37131
2025-04-29 05:58:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10359, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2267
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:58:43 [info] currentZPosition:0.00785
2025-04-29 05:58:45 [debug] Stopped at height 0.007 mm
2025-04-29 05:58:45 [debug] Diagnostics for board 50:
2025-04-29 05:58:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:58:45 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:46:36 ago, cause: software
2025-04-29 05:58:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 05:58:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 05:58:45 [debug] Moves scheduled 26717, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=508, frequency (Hz): min=1716, max=15306
Sync err accum 81, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 1994653715 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:58:45 [debug] Driver 0: pos -9604, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16411, writes 0 timeouts 0
2025-04-29 05:58:45 [debug] Last sensors broadcast 0x00000000 found 0 243 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 96, 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 372, adv 36213/37120
2025-04-29 05:58:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10407, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:58:45 [info] currentZPosition:0.00686
2025-04-29 05:58:46 [debug] Stopped at height 0.006 mm
2025-04-29 05:58:46 [debug] Diagnostics for board 50:
2025-04-29 05:58:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:58:46 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:46:38 ago, cause: software
2025-04-29 05:58:46 [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
2025-04-29 05:58:46 [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
2025-04-29 05:58:46 [debug] Moves scheduled 26721, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 267, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=596, frequency (Hz): min=1575, max=17441
Sync err accum 75, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1993504755 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max
2025-04-29 05:58:46 [debug] Driver 0: pos -9609, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17923, writes 0 timeouts 0
2025-04-29 05:58:46 [debug] Last sensors broadcast 0x00000000 found 0 24 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 94, 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 366, adv 35953/37119
2025-04-29 05:58:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10416, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2279
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:58:46 [info] currentZPosition:0.00636
2025-04-29 05:58:48 [debug] Stopped at height 0.007 mm
2025-04-29 05:58:48 [debug] Diagnostics for board 50:
2025-04-29 05:58:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:58:48 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.3%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:46:39 ago, cause: software
2025-04-29 05:58:48 [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
2025-04-29 05:58:48 [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
2025-04-29 05:58:48 [debug] Moves scheduled 26725, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 519, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=621, frequency (Hz): min=1425, max=15306
Sync err accum 64, peak jitter -2/-1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1992477822 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatu
2025-04-29 05:58:48 [debug] Driver 0: pos -9605, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15812, writes 0 timeouts 0
2025-04-29 05:58:48 [debug] Last sensors broadcast 0x00000000 found 0 144 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 93, 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 433, adv 35663/37080
2025-04-29 05:58:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10421, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:58:48 [info] currentZPosition:0.00676
2025-04-29 05:58:49 [debug] Stopped at height 0.007 mm
2025-04-29 05:58:49 [debug] Diagnostics for board 50:
2025-04-29 05:58:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:58:49 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:46:40 ago, cause: software
2025-04-29 05:58:49 [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
2025-04-29 05:58:49 [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
2025-04-29 05:58:49 [debug] Moves scheduled 26729, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=469, frequency (Hz): min=802, max=15306
Sync err accum 68, peak jitter -2/2, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 4294967244 ticks, disabled, CC0 mismatch!!, next step interrupt due in 1991346979 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU t
2025-04-29 05:58:49 [debug] Driver 0: pos -9600, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17576, writes 11 timeouts 1
2025-04-29 05:58:49 [debug] Last sensors broadcast 0x00000000 found 0 151 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 89, 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 627, adv 35758/37157
2025-04-29 05:58:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10357, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:58:49 [info] currentZPosition:0.00726
2025-04-29 05:58:50 [debug] Stopped at height 0.008 mm
2025-04-29 05:58:50 [debug] Diagnostics for board 50:
2025-04-29 05:58:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:58:50 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:46:42 ago, cause: software
2025-04-29 05:58:50 [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
2025-04-29 05:58:50 [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
2025-04-29 05:58:50 [debug] Moves scheduled 26733, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 312, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=497, frequency (Hz): min=538, max=15306
Sync err accum 73, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1990322271 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max 3
2025-04-29 05:58:50 [debug] Driver 0: pos -9597, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15931, writes 11 timeouts 1
2025-04-29 05:58:50 [debug] Last sensors broadcast 0x00000000 found 0 18 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 85, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 35909/37114
2025-04-29 05:58:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10330, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4707, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:58:51 [info] currentZPosition:0.00755
2025-04-29 05:58:52 [debug] Stopped at height 0.008 mm
2025-04-29 05:58:52 [debug] Diagnostics for board 50:
2025-04-29 05:58:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:58:52 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:46:43 ago, cause: software
2025-04-29 05:58:52 [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
2025-04-29 05:58:52 [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
2025-04-29 05:58:52 [debug] Moves scheduled 26737, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 162, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=642, frequency (Hz): min=1200, max=15306
Sync err accum 76, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1989184568 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max 
2025-04-29 05:58:52 [debug] Driver 0: pos -9596, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17835, writes 0 timeouts 0
2025-04-29 05:58:52 [debug] Last sensors broadcast 0x00000000 found 0 38 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 88, 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 383, adv 35665/37085
2025-04-29 05:58:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10344, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:58:52 [info] currentZPosition:0.00765
2025-04-29 05:58:53 [debug] Stopped at height 0.007 mm
2025-04-29 05:58:53 [debug] Diagnostics for board 50:
2025-04-29 05:58:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:58:53 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.5%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:46:45 ago, cause: software
2025-04-29 05:58:53 [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
2025-04-29 05:58:53 [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
2025-04-29 05:58:53 [debug] Moves scheduled 26741, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=518, frequency (Hz): min=1666, max=15306
Sync err accum 75, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 1988123227 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:58:53 [debug] Driver 0: pos -9608, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16477, writes 0 timeouts 0
2025-04-29 05:58:53 [debug] Last sensors broadcast 0x00000000 found 0 199 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 94, 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 393, adv 36020/37076
2025-04-29 05:58:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10412, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:58:54 [info] currentZPosition:0.00656
2025-04-29 05:58:55 [debug] Stopped at height 0.008 mm
2025-04-29 05:58:55 [debug] Diagnostics for board 50:
2025-04-29 05:58:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:58:55 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:46:46 ago, cause: software
2025-04-29 05:58:55 [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
2025-04-29 05:58:55 [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
2025-04-29 05:58:55 [debug] Moves scheduled 26745, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 372, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=548, frequency (Hz): min=1450, max=15306
Sync err accum 72, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1987014408 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max
2025-04-29 05:58:55 [debug] Driver 0: pos -9593, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17300, writes 0 timeouts 0
2025-04-29 05:58:55 [debug] Last sensors broadcast 0x00000000 found 0 178 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 85, 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 385, adv 36182/37137
2025-04-29 05:58:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10355, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2268
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:58:55 [info] currentZPosition:0.00805
2025-04-29 05:58:55 [debug] Stopped at height 0.006 mm
2025-04-29 05:58:57 [debug] Stopped at height 0.008 mm
2025-04-29 05:58:57 [debug] Diagnostics for board 50:
2025-04-29 05:58:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:58:57 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.9%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:46:48 ago, cause: software
2025-04-29 05:58:57 [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
2025-04-29 05:58:57 [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
2025-04-29 05:58:57 [debug] Moves scheduled 26751, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=505, frequency (Hz): min=1655, max=15306
Sync err accum 61, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1985738187 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max
2025-04-29 05:58:57 [debug] Driver 0: pos -9598, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 19993, writes 0 timeouts 0
2025-04-29 05:58:57 [debug] Last sensors broadcast 0x00000000 found 0 134 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 107, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36226/37119
2025-04-29 05:58:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2269
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10339, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:58:57 [info] currentZPosition:0.00755
2025-04-29 05:58:58 [debug] Stopped at height 0.008 mm
2025-04-29 05:58:58 [debug] Diagnostics for board 50:
2025-04-29 05:58:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:58:58 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:46:49 ago, cause: software
2025-04-29 05:58:58 [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
2025-04-29 05:58:58 [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
2025-04-29 05:58:58 [debug] Moves scheduled 26755, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=500, frequency (Hz): min=592, max=15306
Sync err accum 75, peak jitter 2/2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1984606103 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max 3
2025-04-29 05:58:58 [debug] Driver 0: pos -9595, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17735, writes 11 timeouts 1
2025-04-29 05:58:58 [debug] Last sensors broadcast 0x00000000 found 0 140 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 84, 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 370, adv 36049/37120
2025-04-29 05:58:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10343, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:58:58 [info] currentZPosition:0.00785
2025-04-29 05:58:59 [debug] Stopped at height 0.006 mm
2025-04-29 05:58:59 [debug] Diagnostics for board 50:
2025-04-29 05:58:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:58:59 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.7%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:46:51 ago, cause: software
2025-04-29 05:58:59 [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
2025-04-29 05:58:59 [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
2025-04-29 05:58:59 [debug] Moves scheduled 26759, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=516, frequency (Hz): min=1439, max=15306
Sync err accum 84, peak jitter 1/2, peak Rx delay 213, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1983545303 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 05:58:59 [debug] Driver 0: pos -9609, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16440, writes 0 timeouts 0
2025-04-29 05:58:59 [debug] Last sensors broadcast 0x00000000 found 0 53 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 101, 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 389, adv 35664/37155
2025-04-29 05:58:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10412, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2279
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:59:00 [info] currentZPosition:0.00646
2025-04-29 05:59:00 [debug] Stopped at height 0.006 mm
2025-04-29 05:59:01 [debug] Stopped at height 0.007 mm
2025-04-29 05:59:01 [debug] Diagnostics for board 50:
2025-04-29 05:59:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:59:01 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.0%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:46:53 ago, cause: software
2025-04-29 05:59:01 [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
2025-04-29 05:59:01 [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
2025-04-29 05:59:01 [debug] Moves scheduled 26765, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 520, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=584, frequency (Hz): min=506, max=15306
Sync err accum 91, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1982171638 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 3
2025-04-29 05:59:01 [debug] Driver 0: pos -9605, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 21540, writes 11 timeouts 1
2025-04-29 05:59:01 [debug] Last sensors broadcast 0x00000000 found 0 137 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 109, 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 490, adv 35908/37120
2025-04-29 05:59:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10422, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:59:01 [info] currentZPosition:0.00686
2025-04-29 05:59:03 [debug] Stopped at height 0.008 mm
2025-04-29 05:59:03 [debug] Diagnostics for board 50:
2025-04-29 05:59:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:59:03 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:46:54 ago, cause: software
2025-04-29 05:59:03 [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
2025-04-29 05:59:03 [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
2025-04-29 05:59:03 [debug] Moves scheduled 26769, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 241, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=532, frequency (Hz): min=1602, max=15306
Sync err accum 88, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 1981157297 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:59:03 [debug] Driver 0: pos -9593, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15695, writes 0 timeouts 0
2025-04-29 05:59:03 [debug] Last sensors broadcast 0x00000000 found 0 236 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 82, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 35908/37116
2025-04-29 05:59:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10353, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:59:03 [info] currentZPosition:0.00805
2025-04-29 05:59:04 [debug] Stopped at height 0.008 mm
2025-04-29 05:59:04 [debug] Diagnostics for board 50:
2025-04-29 05:59:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:59:04 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:46:55 ago, cause: software
2025-04-29 05:59:04 [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
2025-04-29 05:59:04 [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
2025-04-29 05:59:04 [debug] Moves scheduled 26773, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=474, frequency (Hz): min=1436, max=15306
Sync err accum 83, peak jitter -1/0, peak Rx delay 184, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1980017794 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max
2025-04-29 05:59:04 [debug] Driver 0: pos -9595, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17937, writes 0 timeouts 0
2025-04-29 05:59:04 [debug] Last sensors broadcast 0x00000000 found 0 8 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 88, 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 385, adv 35775/37146
2025-04-29 05:59:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10364, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:59:04 [info] currentZPosition:0.00785
2025-04-29 05:59:06 [debug] Stopped at height 0.007 mm
2025-04-29 05:59:06 [debug] Diagnostics for board 50:
2025-04-29 05:59:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:59:06 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.7%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:46:57 ago, cause: software
2025-04-29 05:59:06 [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
2025-04-29 05:59:06 [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
2025-04-29 05:59:06 [debug] Moves scheduled 26777, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 342, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=480, frequency (Hz): min=1546, max=15306
Sync err accum 76, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1978967614 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max
2025-04-29 05:59:06 [debug] Driver 0: pos -9606, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16306, writes 0 timeouts 0
2025-04-29 05:59:06 [debug] Last sensors broadcast 0x00000000 found 0 159 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 92, 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 452, adv 36056/37107
2025-04-29 05:59:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10427, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:59:06 [info] currentZPosition:0.00676
2025-04-29 05:59:07 [debug] Stopped at height 0.007 mm
2025-04-29 05:59:07 [debug] Diagnostics for board 50:
2025-04-29 05:59:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:59:07 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:46:58 ago, cause: software
2025-04-29 05:59:07 [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
2025-04-29 05:59:07 [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
2025-04-29 05:59:07 [debug] Moves scheduled 26781, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=490, frequency (Hz): min=1777, max=15306
Sync err accum 62, peak jitter -3/-1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1977836850 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, ma
2025-04-29 05:59:07 [debug] Driver 0: pos -9602, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17723, writes 0 timeouts 0
2025-04-29 05:59:07 [debug] Last sensors broadcast 0x00000000 found 0 165 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 91, 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 378, adv 36314/37138
2025-04-29 05:59:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10402, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4697, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:59:07 [info] currentZPosition:0.00716
2025-04-29 05:59:08 [debug] Stopped at height 0.008 mm
2025-04-29 05:59:08 [debug] Diagnostics for board 50:
2025-04-29 05:59:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:59:08 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.6%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:47:00 ago, cause: software
2025-04-29 05:59:08 [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
2025-04-29 05:59:08 [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
2025-04-29 05:59:08 [debug] Moves scheduled 26785, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 322, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=554, frequency (Hz): min=1599, max=15306
Sync err accum 70, peak jitter -1/3, peak Rx delay 214, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1976815834 ticks, 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
2025-04-29 05:59:08 [debug] Driver 0: pos -9596, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15857, writes 0 timeouts 0
2025-04-29 05:59:08 [debug] Last sensors broadcast 0x00000000 found 0 25 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 85, 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 565, adv 36294/37120
2025-04-29 05:59:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10361, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2268
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:59:09 [info] currentZPosition:0.00775
2025-04-29 05:59:10 [debug] Stopped at height 0.008 mm
2025-04-29 05:59:10 [debug] Diagnostics for board 50:
2025-04-29 05:59:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:59:10 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:47:01 ago, cause: software
2025-04-29 05:59:10 [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
2025-04-29 05:59:10 [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
2025-04-29 05:59:10 [debug] Moves scheduled 26789, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=638, frequency (Hz): min=1476, max=15306
Sync err accum 84, peak jitter 1/3, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1975677377 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 05:59:10 [debug] Driver 0: pos -9597, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17840, writes 0 timeouts 0
2025-04-29 05:59:10 [debug] Last sensors broadcast 0x00000000 found 0 45 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 90, 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 354, adv 36154/37119
2025-04-29 05:59:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10379, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2268
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:59:10 [info] currentZPosition:0.00775
2025-04-29 05:59:11 [debug] Stopped at height 0.007 mm
2025-04-29 05:59:11 [debug] Diagnostics for board 50:
2025-04-29 05:59:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:59:11 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.8%
Owned mutexes:
Last reset 16:47:03 ago, cause: software
2025-04-29 05:59:11 [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
2025-04-29 05:59:11 [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
2025-04-29 05:59:11 [debug] Moves scheduled 26793, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 165, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=572, frequency (Hz): min=929, max=15625
Sync err accum 91, peak jitter 1/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 1974650316 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, curr
2025-04-29 05:59:11 [debug] Driver 0: pos -9601, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15987, writes 11 timeouts 1
2025-04-29 05:59:11 [debug] Last sensors broadcast 0x00000000 found 0 164 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 90, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 35784/37111
2025-04-29 05:59:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10372, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:59:11 [info] currentZPosition:0.00736
2025-04-29 05:59:13 [debug] Stopped at height 0.008 mm
2025-04-29 05:59:13 [debug] Diagnostics for board 50:
2025-04-29 05:59:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:59:13 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.2%
Owned mutexes:
Last reset 16:47:04 ago, cause: software
2025-04-29 05:59:13 [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
2025-04-29 05:59:13 [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
2025-04-29 05:59:13 [debug] Moves scheduled 26797, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=548, frequency (Hz): min=1704, max=15306
Sync err accum 95, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 1973517661 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:59:13 [debug] Driver 0: pos -9599, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17766, writes 0 timeouts 0
2025-04-29 05:59:13 [debug] Last sensors broadcast 0x00000000 found 0 173 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 88, 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 454, adv 35979/37082
2025-04-29 05:59:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10369, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:59:13 [info] currentZPosition:0.00755
2025-04-29 05:59:14 [debug] Stopped at height 0.008 mm
2025-04-29 05:59:14 [debug] Diagnostics for board 50:
2025-04-29 05:59:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:59:14 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.4%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:47:06 ago, cause: software
2025-04-29 05:59:14 [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
2025-04-29 05:59:14 [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
2025-04-29 05:59:14 [debug] Moves scheduled 26801, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=610, frequency (Hz): min=1453, max=15306
Sync err accum 94, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1972491044 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max
2025-04-29 05:59:14 [debug] Driver 0: pos -9596, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16009, writes 0 timeouts 0
2025-04-29 05:59:14 [debug] Last sensors broadcast 0x00000000 found 0 44 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 86, 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 368, adv 35657/37110
2025-04-29 05:59:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2268
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10353, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:59:14 [info] currentZPosition:0.00785
2025-04-29 05:59:16 [debug] Stopped at height 0.008 mm
2025-04-29 05:59:16 [debug] Diagnostics for board 50:
2025-04-29 05:59:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:59:16 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:47:07 ago, cause: software
2025-04-29 05:59:16 [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
2025-04-29 05:59:16 [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
2025-04-29 05:59:16 [debug] Moves scheduled 26805, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 307, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=509, frequency (Hz): min=569, max=15306
Sync err accum 90, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 1971363736 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:59:16 [debug] Driver 0: pos -9594, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17702, writes 11 timeouts 1
2025-04-29 05:59:16 [debug] Last sensors broadcast 0x00000000 found 0 47 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 85, 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 431, adv 35825/37112
2025-04-29 05:59:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10361, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4708, no error
Lin: Encoder reverse polarity: no, raw count 2268
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:59:16 [info] currentZPosition:0.00805
2025-04-29 05:59:17 [debug] Stopped at height 0.008 mm
2025-04-29 05:59:17 [debug] Diagnostics for board 50:
2025-04-29 05:59:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:59:17 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:47:08 ago, cause: software
2025-04-29 05:59:17 [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
2025-04-29 05:59:17 [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
2025-04-29 05:59:17 [debug] Moves scheduled 26809, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 241, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=466, frequency (Hz): min=1415, max=15306
Sync err accum 86, peak jitter -1/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1970335839 ticks, 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
2025-04-29 05:59:17 [debug] Driver 0: pos -9593, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16155, writes 0 timeouts 0
2025-04-29 05:59:17 [debug] Last sensors broadcast 0x00000000 found 0 165 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 81, 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 481, adv 36263/37128
2025-04-29 05:59:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10353, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2267
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:59:17 [info] currentZPosition:0.00825
2025-04-29 05:59:19 [debug] Stopped at height 0.008 mm
2025-04-29 05:59:19 [debug] Diagnostics for board 50:
2025-04-29 05:59:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:59:19 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:47:10 ago, cause: software
2025-04-29 05:59:19 [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
2025-04-29 05:59:19 [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
2025-04-29 05:59:19 [debug] Moves scheduled 26813, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 161, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=548, frequency (Hz): min=1700, max=15625
Sync err accum 69, peak jitter -3/-1, peak Rx delay 186, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 1969194089 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 05:59:19 [debug] Driver 0: pos -9598, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18011, writes 0 timeouts 0
2025-04-29 05:59:19 [debug] Last sensors broadcast 0x00000000 found 0 189 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 88, 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 383, adv 35720/37162
2025-04-29 05:59:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10366, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2268
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:59:19 [info] currentZPosition:0.00785
2025-04-29 05:59:20 [debug] Stopped at height 0.008 mm
2025-04-29 05:59:20 [debug] Diagnostics for board 50:
2025-04-29 05:59:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:59:20 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:47:11 ago, cause: software
2025-04-29 05:59:20 [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
2025-04-29 05:59:20 [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
2025-04-29 05:59:20 [debug] Moves scheduled 26817, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=444, frequency (Hz): min=1716, max=15306
Sync err accum 60, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1968152525 ticks, 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
2025-04-29 05:59:20 [debug] Driver 0: pos -9600, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16237, writes 0 timeouts 0
2025-04-29 05:59:20 [debug] Last sensors broadcast 0x00000000 found 0 77 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 94, 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 445, adv 35703/37114
2025-04-29 05:59:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10394, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:59:20 [info] currentZPosition:0.00765
2025-04-29 05:59:22 [debug] Stopped at height 0.008 mm
2025-04-29 05:59:22 [debug] Diagnostics for board 50:
2025-04-29 05:59:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:59:22 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:47:13 ago, cause: software
2025-04-29 05:59:22 [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
2025-04-29 05:59:22 [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
2025-04-29 05:59:22 [debug] Moves scheduled 26821, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=734, frequency (Hz): min=581, max=15306
Sync err accum 76, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1967016730 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-29 05:59:22 [debug] Driver 0: pos -9600, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17752, writes 11 timeouts 1
2025-04-29 05:59:22 [debug] Last sensors broadcast 0x00000000 found 0 90 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 89, 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 522, adv 36213/37120
2025-04-29 05:59:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10399, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:59:22 [info] currentZPosition:0.00765
2025-04-29 05:59:23 [debug] Stopped at height 0.007 mm
2025-04-29 05:59:23 [debug] Diagnostics for board 50:
2025-04-29 05:59:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:59:23 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:47:14 ago, cause: software
2025-04-29 05:59:23 [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
2025-04-29 05:59:23 [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
2025-04-29 05:59:23 [debug] Moves scheduled 26825, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=708, frequency (Hz): min=1132, max=15306
Sync err accum 90, peak jitter 1/3, peak Rx delay 184, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1965972332 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max 
2025-04-29 05:59:23 [debug] Driver 0: pos -9607, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16260, writes 0 timeouts 0
2025-04-29 05:59:23 [debug] Last sensors broadcast 0x00000000 found 0 236 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 91, 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 513, adv 35906/37136
2025-04-29 05:59:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10393, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:59:23 [info] currentZPosition:0.00696
2025-04-29 05:59:24 [debug] Stopped at height 0.008 mm
2025-04-29 05:59:24 [debug] Diagnostics for board 50:
2025-04-29 05:59:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:59:24 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:47:16 ago, cause: software
2025-04-29 05:59:24 [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
2025-04-29 05:59:24 [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
2025-04-29 05:59:24 [debug] Moves scheduled 26829, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=549, frequency (Hz): min=1633, max=15625
Sync err accum 100, peak jitter 1/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1964862711 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:59:24 [debug] Driver 0: pos -9593, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17351, writes 0 timeouts 0
2025-04-29 05:59:24 [debug] Last sensors broadcast 0x00000000 found 0 212 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 86, 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 359, adv 36096/37164
2025-04-29 05:59:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10349, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:59:25 [info] currentZPosition:0.00835
2025-04-29 05:59:25 [debug] Stopped at height 0.007 mm
2025-04-29 05:59:26 [debug] Stopped at height 0.007 mm
2025-04-29 05:59:26 [debug] Diagnostics for board 50:
2025-04-29 05:59:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:59:26 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:47:17 ago, cause: software
2025-04-29 05:59:26 [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
2025-04-29 05:59:26 [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
2025-04-29 05:59:26 [debug] Moves scheduled 26835, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=570, frequency (Hz): min=772, max=15625
Sync err accum 109, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 1963569981 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:59:26 [debug] Driver 0: pos -9605, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20313, writes 11 timeouts 1
2025-04-29 05:59:26 [debug] Last sensors broadcast 0x00000000 found 0 187 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 105, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36075/37080
2025-04-29 05:59:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10395, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:59:26 [info] currentZPosition:0.00716
2025-04-29 05:59:28 [debug] Stopped at height 0.008 mm
2025-04-29 05:59:28 [debug] Diagnostics for board 50:
2025-04-29 05:59:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:59:28 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:47:19 ago, cause: software
2025-04-29 05:59:28 [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
2025-04-29 05:59:28 [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
2025-04-29 05:59:28 [debug] Moves scheduled 26839, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=480, frequency (Hz): min=1626, max=15306
Sync err accum 114, peak jitter 0/2, peak Rx delay 189, resyncs 0/0, next timer interrupt due in 1 ticks, disabled, next step interrupt due in 1962446707 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 05:59:28 [debug] Driver 0: pos -9598, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17516, writes 0 timeouts 0
2025-04-29 05:59:28 [debug] Last sensors broadcast 0x00000000 found 0 184 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 92, 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 388, adv 35962/37132
2025-04-29 05:59:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10366, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2268
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:59:28 [info] currentZPosition:0.00785
2025-04-29 05:59:29 [debug] Stopped at height 0.008 mm
2025-04-29 05:59:29 [debug] Diagnostics for board 50:
2025-04-29 05:59:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:59:29 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:47:20 ago, cause: software
2025-04-29 05:59:29 [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
2025-04-29 05:59:29 [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
2025-04-29 05:59:29 [debug] Moves scheduled 26843, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=680, frequency (Hz): min=1177, max=15306
Sync err accum 110, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1961412055 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, ma
2025-04-29 05:59:29 [debug] Driver 0: pos -9597, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16110, writes 0 timeouts 0
2025-04-29 05:59:29 [debug] Last sensors broadcast 0x00000000 found 0 64 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 92, 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 371, adv 36385/37126
2025-04-29 05:59:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10383, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2268
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:59:29 [info] currentZPosition:0.00795
2025-04-29 05:59:31 [debug] Stopped at height 0.007 mm
2025-04-29 05:59:31 [debug] Diagnostics for board 50:
2025-04-29 05:59:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:59:31 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:47:22 ago, cause: software
2025-04-29 05:59:31 [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
2025-04-29 05:59:31 [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
2025-04-29 05:59:31 [debug] Moves scheduled 26847, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 262, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=737, frequency (Hz): min=1074, max=16304
Sync err accum 103, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 1960259723 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 05:59:31 [debug] Driver 0: pos -9606, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18147, writes 0 timeouts 0
2025-04-29 05:59:31 [debug] Last sensors broadcast 0x00000000 found 0 101 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 94, 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 397, adv 35766/37104
2025-04-29 05:59:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10419, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:59:31 [info] currentZPosition:0.00706
2025-04-29 05:59:32 [debug] Stopped at height 0.007 mm
2025-04-29 05:59:32 [debug] Diagnostics for board 50:
2025-04-29 05:59:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:59:32 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:47:23 ago, cause: software
2025-04-29 05:59:32 [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
2025-04-29 05:59:32 [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
2025-04-29 05:59:32 [debug] Moves scheduled 26851, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=617, frequency (Hz): min=1341, max=15306
Sync err accum 92, peak jitter -2/-1, peak Rx delay 188, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 1959231164 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 05:59:32 [debug] Driver 0: pos -9603, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15942, writes 0 timeouts 0
2025-04-29 05:59:32 [debug] Last sensors broadcast 0x00000000 found 0 221 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 89, 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 423, adv 35683/37123
2025-04-29 05:59:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10387, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:59:32 [info] currentZPosition:0.00736
2025-04-29 05:59:33 [debug] Stopped at height 0.007 mm
2025-04-29 05:59:33 [debug] Diagnostics for board 50:
2025-04-29 05:59:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:59:33 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:47:25 ago, cause: software
2025-04-29 05:59:33 [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
2025-04-29 05:59:33 [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
2025-04-29 05:59:33 [debug] Moves scheduled 26855, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 1072, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=698, frequency (Hz): min=1295, max=15306
Sync err accum 75, peak jitter -3/-2, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1958094579 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, 
2025-04-29 05:59:33 [debug] Driver 0: pos -9605, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17793, writes 0 timeouts 0
2025-04-29 05:59:33 [debug] Last sensors broadcast 0x00000000 found 0 238 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 92, 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 362, adv 36373/37125
2025-04-29 05:59:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10394, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:59:34 [info] currentZPosition:0.00716
2025-04-29 05:59:35 [debug] Stopped at height 0.008 mm
2025-04-29 05:59:35 [debug] Diagnostics for board 50:
2025-04-29 05:59:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:59:35 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.5%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:47:26 ago, cause: software
2025-04-29 05:59:35 [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
2025-04-29 05:59:35 [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
2025-04-29 05:59:35 [debug] Moves scheduled 26859, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 165, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=549, frequency (Hz): min=1500, max=15306
Sync err accum 62, peak jitter -3/-1, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 1957082908 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 05:59:35 [debug] Driver 0: pos -9594, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15745, writes 0 timeouts 0
2025-04-29 05:59:35 [debug] Last sensors broadcast 0x00000000 found 0 86 ticks ago, 0 ordering errs, loop time 2
CAN messages queued 85, 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 862, adv 35906/37114
2025-04-29 05:59:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2267
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10331, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:59:35 [info] currentZPosition:0.00825
2025-04-29 05:59:36 [debug] Stopped at height 0.008 mm
2025-04-29 05:59:36 [debug] Diagnostics for board 50:
2025-04-29 05:59:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:59:36 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:47:28 ago, cause: software
2025-04-29 05:59:36 [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
2025-04-29 05:59:36 [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
2025-04-29 05:59:36 [debug] Moves scheduled 26863, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=661, frequency (Hz): min=1407, max=15306
Sync err accum 68, peak jitter -1/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1955950303 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max
2025-04-29 05:59:36 [debug] Driver 0: pos -9595, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17882, writes 0 timeouts 0
2025-04-29 05:59:36 [debug] Last sensors broadcast 0x00000000 found 0 96 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 85, 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 374, adv 36169/37117
2025-04-29 05:59:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10330, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:59:36 [info] currentZPosition:0.00815
2025-04-29 05:59:38 [debug] Stopped at height 0.008 mm
2025-04-29 05:59:38 [debug] Diagnostics for board 50:
2025-04-29 05:59:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:59:38 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.3%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:47:29 ago, cause: software
2025-04-29 05:59:38 [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
2025-04-29 05:59:38 [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
2025-04-29 05:59:38 [debug] Moves scheduled 26867, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=570, frequency (Hz): min=682, max=15306
Sync err accum 75, peak jitter 0/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 1 ticks, disabled, next step interrupt due in 1954907120 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 05:59:38 [debug] Driver 0: pos -9600, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16266, writes 11 timeouts 1
2025-04-29 05:59:38 [debug] Last sensors broadcast 0x00000000 found 0 236 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 86, 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 458, adv 36112/37089
2025-04-29 05:59:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10394, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:59:38 [info] currentZPosition:0.00775
2025-04-29 05:59:39 [debug] Stopped at height 0.008 mm
2025-04-29 05:59:39 [debug] Diagnostics for board 50:
2025-04-29 05:59:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:59:39 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:47:30 ago, cause: software
2025-04-29 05:59:39 [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
2025-04-29 05:59:39 [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
2025-04-29 05:59:39 [debug] Moves scheduled 26871, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=497, frequency (Hz): min=1464, max=15306
Sync err accum 78, peak jitter -1/1, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1953779585 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max
2025-04-29 05:59:39 [debug] Driver 0: pos -9596, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17710, writes 0 timeouts 0
2025-04-29 05:59:39 [debug] Last sensors broadcast 0x00000000 found 0 240 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 87, 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 375, adv 35989/37116
2025-04-29 05:59:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2269
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10345, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:59:39 [info] currentZPosition:0.00815
2025-04-29 05:59:41 [debug] Stopped at height 0.008 mm
2025-04-29 05:59:41 [debug] Diagnostics for board 50:
2025-04-29 05:59:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:59:41 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.2%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:47:32 ago, cause: software
2025-04-29 05:59:41 [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
2025-04-29 05:59:41 [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
2025-04-29 05:59:41 [debug] Moves scheduled 26875, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=598, frequency (Hz): min=1177, max=15306
Sync err accum 78, peak jitter 0/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1952750142 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 05:59:41 [debug] Driver 0: pos -9595, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16083, writes 0 timeouts 0
2025-04-29 05:59:41 [debug] Last sensors broadcast 0x00000000 found 0 113 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 84, 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 368, adv 36324/37107
2025-04-29 05:59:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10340, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:59:41 [info] currentZPosition:0.00825
2025-04-29 05:59:42 [debug] Stopped at height 0.008 mm
2025-04-29 05:59:42 [debug] Diagnostics for board 50:
2025-04-29 05:59:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:59:42 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:47:33 ago, cause: software
2025-04-29 05:59:42 [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
2025-04-29 05:59:42 [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
2025-04-29 05:59:42 [debug] Moves scheduled 26879, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=534, frequency (Hz): min=1361, max=15306
Sync err accum 70, peak jitter -2/-1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 1951614793 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 05:59:42 [debug] Driver 0: pos -9598, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17744, writes 0 timeouts 0
2025-04-29 05:59:42 [debug] Last sensors broadcast 0x00000000 found 0 127 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 87, send timeouts 0, received 22, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 35875/37078
2025-04-29 05:59:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10340, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:59:42 [info] currentZPosition:0.00795
2025-04-29 05:59:43 [debug] Stopped at height 0.008 mm
2025-04-29 05:59:43 [debug] Diagnostics for board 50:
2025-04-29 05:59:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:59:43 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:47:35 ago, cause: software
2025-04-29 05:59:43 [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
2025-04-29 05:59:43 [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
2025-04-29 05:59:43 [debug] Moves scheduled 26883, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 484, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=598, frequency (Hz): min=1344, max=15306
Sync err accum 63, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1950578896 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max
2025-04-29 05:59:43 [debug] Driver 0: pos -9599, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16177, writes 0 timeouts 0
2025-04-29 05:59:43 [debug] Last sensors broadcast 0x00000000 found 0 9 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 90, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 35732/37137
2025-04-29 05:59:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10371, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:59:44 [info] currentZPosition:0.00785
2025-04-29 05:59:45 [debug] Stopped at height 0.008 mm
2025-04-29 05:59:45 [debug] Diagnostics for board 50:
2025-04-29 05:59:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:59:45 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:47:36 ago, cause: software
2025-04-29 05:59:45 [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
2025-04-29 05:59:45 [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
2025-04-29 05:59:45 [debug] Moves scheduled 26887, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=469, frequency (Hz): min=1716, max=15306
Sync err accum 71, peak jitter -1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 1949446654 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:59:45 [debug] Driver 0: pos -9599, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17739, writes 0 timeouts 0
2025-04-29 05:59:45 [debug] Last sensors broadcast 0x00000000 found 0 18 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 85, 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 698, adv 35679/37122
2025-04-29 05:59:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10373, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:59:45 [info] currentZPosition:0.00785
2025-04-29 05:59:46 [debug] Stopped at height 0.007 mm
2025-04-29 05:59:46 [debug] Diagnostics for board 50:
2025-04-29 05:59:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:59:46 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.5%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:47:38 ago, cause: software
2025-04-29 05:59:46 [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
2025-04-29 05:59:46 [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
2025-04-29 05:59:46 [debug] Moves scheduled 26891, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=490, frequency (Hz): min=1633, max=15625
Sync err accum 74, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1948388073 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max 
2025-04-29 05:59:46 [debug] Driver 0: pos -9612, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16439, writes 0 timeouts 0
2025-04-29 05:59:46 [debug] Last sensors broadcast 0x00000000 found 0 182 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 99, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 398, adv 35905/37120
2025-04-29 05:59:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10456, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:59:46 [info] currentZPosition:0.00656
2025-04-29 05:59:47 [debug] Stopped at height 0.006 mm
2025-04-29 05:59:48 [debug] Stopped at height 0.008 mm
2025-04-29 05:59:48 [debug] Diagnostics for board 50:
2025-04-29 05:59:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:59:48 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:47:39 ago, cause: software
2025-04-29 05:59:48 [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
2025-04-29 05:59:48 [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
2025-04-29 05:59:48 [debug] Moves scheduled 26897, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=421, frequency (Hz): min=880, max=15306
Sync err accum 70, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1947051571 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 05:59:48 [debug] Driver 0: pos -9594, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 21049, writes 11 timeouts 1
2025-04-29 05:59:48 [debug] Last sensors broadcast 0x00000000 found 0 210 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 99, 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 522, adv 36260/37114
2025-04-29 05:59:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10355, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4707, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:59:48 [info] currentZPosition:0.00835
2025-04-29 05:59:49 [debug] Stopped at height 0.007 mm
2025-04-29 05:59:50 [debug] Stopped at height 0.007 mm
2025-04-29 05:59:50 [debug] Diagnostics for board 50:
2025-04-29 05:59:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:59:50 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:47:41 ago, cause: software
2025-04-29 05:59:50 [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
2025-04-29 05:59:50 [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
2025-04-29 05:59:50 [debug] Moves scheduled 26903, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 294, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=516, frequency (Hz): min=1666, max=15306
Sync err accum 64, peak jitter -2/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1945759276 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 05:59:50 [debug] Driver 0: pos -9607, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20311, writes 0 timeouts 0
2025-04-29 05:59:50 [debug] Last sensors broadcast 0x00000000 found 0 186 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 105, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 36128/37121
2025-04-29 05:59:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10402, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:59:50 [info] currentZPosition:0.00706
2025-04-29 05:59:51 [debug] Stopped at height 0.008 mm
2025-04-29 05:59:51 [debug] Diagnostics for board 50:
2025-04-29 05:59:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:59:51 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:47:43 ago, cause: software
2025-04-29 05:59:51 [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
2025-04-29 05:59:51 [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
2025-04-29 05:59:51 [debug] Moves scheduled 26907, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=660, frequency (Hz): min=554, max=15306
Sync err accum 69, peak jitter 0/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 1944652179 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, curr
2025-04-29 05:59:51 [debug] Driver 0: pos -9593, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17271, writes 11 timeouts 1
2025-04-29 05:59:51 [debug] Last sensors broadcast 0x00000000 found 0 160 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 87, 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 338, adv 36136/37122
2025-04-29 05:59:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2268
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10347, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:59:51 [info] currentZPosition:0.00845
2025-04-29 05:59:52 [debug] Stopped at height 0.008 mm
2025-04-29 05:59:53 [debug] Stopped at height 0.008 mm
2025-04-29 05:59:53 [debug] Diagnostics for board 50:
2025-04-29 05:59:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:59:53 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.1%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:47:44 ago, cause: software
2025-04-29 05:59:53 [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
2025-04-29 05:59:53 [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
2025-04-29 05:59:53 [debug] Moves scheduled 26913, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 161, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=577, frequency (Hz): min=1353, max=15306
Sync err accum 72, peak jitter -1/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1943362842 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max
2025-04-29 05:59:53 [debug] Driver 0: pos -9602, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20392, writes 0 timeouts 0
2025-04-29 05:59:53 [debug] Last sensors broadcast 0x00000000 found 0 131 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 98, 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 517, adv 35615/37117
2025-04-29 05:59:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10397, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:59:53 [info] currentZPosition:0.00755
2025-04-29 05:59:55 [debug] Stopped at height 0.008 mm
2025-04-29 05:59:55 [debug] Diagnostics for board 50:
2025-04-29 05:59:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:59:55 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:47:46 ago, cause: software
2025-04-29 05:59:55 [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
2025-04-29 05:59:55 [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
2025-04-29 05:59:55 [debug] Moves scheduled 26917, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=536, frequency (Hz): min=1708, max=15306
Sync err accum 71, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1942245750 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max
2025-04-29 05:59:55 [debug] Driver 0: pos -9596, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17563, writes 0 timeouts 0
2025-04-29 05:59:55 [debug] Last sensors broadcast 0x00000000 found 0 119 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 84, 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 482, adv 35932/37124
2025-04-29 05:59:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10339, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:59:55 [info] currentZPosition:0.00815
2025-04-29 05:59:56 [debug] Stopped at height 0.007 mm
2025-04-29 05:59:56 [debug] Diagnostics for board 50:
2025-04-29 05:59:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:59:56 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.4%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:47:47 ago, cause: software
2025-04-29 05:59:56 [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
2025-04-29 05:59:56 [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
2025-04-29 05:59:56 [debug] Moves scheduled 26921, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=584, frequency (Hz): min=1578, max=15306
Sync err accum 66, peak jitter -1/0, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1941175267 ticks, 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
2025-04-29 05:59:56 [debug] Driver 0: pos -9612, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16660, writes 0 timeouts 0
2025-04-29 05:59:56 [debug] Last sensors broadcast 0x00000000 found 0 47 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 102, 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 388, adv 35743/37166
2025-04-29 05:59:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10457, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:59:56 [info] currentZPosition:0.00656
2025-04-29 05:59:56 [debug] Stopped at height 0.006 mm
2025-04-29 05:59:58 [debug] Stopped at height 0.009 mm
2025-04-29 05:59:58 [debug] Diagnostics for board 50:
2025-04-29 05:59:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:59:58 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:47:49 ago, cause: software
2025-04-29 05:59:58 [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
2025-04-29 05:59:58 [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
2025-04-29 05:59:58 [debug] Moves scheduled 26927, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=502, frequency (Hz): min=506, max=15306
Sync err accum 69, peak jitter -2/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1939839926 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max 
2025-04-29 05:59:58 [debug] Driver 0: pos -9592, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 21049, writes 22 timeouts 2
2025-04-29 05:59:58 [debug] Last sensors broadcast 0x00000000 found 0 77 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 97, 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 455, adv 35790/37113
2025-04-29 05:59:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10314, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 05:59:58 [info] currentZPosition:0.00855
2025-04-29 05:59:58 [debug] Stopped at height 0.007 mm
2025-04-29 05:59:59 [debug] Stopped at height 0.007 mm
2025-04-29 05:59:59 [debug] Diagnostics for board 50:
2025-04-29 05:59:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 05:59:59 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:47:51 ago, cause: software
2025-04-29 05:59:59 [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
2025-04-29 05:59:59 [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
2025-04-29 05:59:59 [debug] Moves scheduled 26933, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 328, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=561, frequency (Hz): min=1524, max=15306
Sync err accum 74, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1938553280 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 05:59:59 [debug] Driver 0: pos -9603, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20250, writes 0 timeouts 0
2025-04-29 05:59:59 [debug] Last sensors broadcast 0x00000000 found 0 43 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 101, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 35978/37101
2025-04-29 05:59:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10359, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:00:00 [info] currentZPosition:0.00746
2025-04-29 06:00:01 [debug] Stopped at height 0.007 mm
2025-04-29 06:00:01 [debug] Diagnostics for board 50:
2025-04-29 06:00:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:00:01 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:47:52 ago, cause: software
2025-04-29 06:00:01 [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
2025-04-29 06:00:01 [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
2025-04-29 06:00:01 [debug] Moves scheduled 26937, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=548, frequency (Hz): min=503, max=15306
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 1937422330 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:00:01 [debug] Driver 0: pos -9608, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17649, writes 11 timeouts 1
2025-04-29 06:00:01 [debug] Last sensors broadcast 0x00000000 found 0 54 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 95, 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 369, adv 35627/37111
2025-04-29 06:00:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10406, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:00:01 [info] currentZPosition:0.00696
2025-04-29 06:00:02 [debug] Stopped at height 0.008 mm
2025-04-29 06:00:02 [debug] Diagnostics for board 50:
2025-04-29 06:00:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:00:02 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:47:54 ago, cause: software
2025-04-29 06:00:02 [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
2025-04-29 06:00:02 [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
2025-04-29 06:00:02 [debug] Moves scheduled 26941, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=458, frequency (Hz): min=1773, max=15306
Sync err accum 73, peak jitter -2/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1936408142 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:00:02 [debug] Driver 0: pos -9595, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15674, writes 0 timeouts 0
2025-04-29 06:00:02 [debug] Last sensors broadcast 0x00000000 found 0 153 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 81, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 371, adv 36171/37137
2025-04-29 06:00:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10350, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:00:02 [info] currentZPosition:0.00825
2025-04-29 06:00:03 [debug] Stopped at height 0.007 mm
2025-04-29 06:00:04 [debug] Stopped at height 0.008 mm
2025-04-29 06:00:04 [debug] Diagnostics for board 50:
2025-04-29 06:00:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:00:04 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:47:55 ago, cause: software
2025-04-29 06:00:04 [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
2025-04-29 06:00:04 [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
2025-04-29 06:00:04 [debug] Moves scheduled 26947, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=612, frequency (Hz): min=867, max=15306
Sync err accum 61, peak jitter -2/-1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 1935032719 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:00:04 [debug] Driver 0: pos -9602, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 21758, writes 11 timeouts 1
2025-04-29 06:00:04 [debug] Last sensors broadcast 0x00000000 found 0 238 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 106, 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 374, adv 36197/37132
2025-04-29 06:00:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10379, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:00:04 [info] currentZPosition:0.00755
2025-04-29 06:00:06 [debug] Stopped at height 0.008 mm
2025-04-29 06:00:06 [debug] Diagnostics for board 50:
2025-04-29 06:00:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:00:06 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.3%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:47:57 ago, cause: software
2025-04-29 06:00:06 [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
2025-04-29 06:00:06 [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
2025-04-29 06:00:06 [debug] Moves scheduled 26951, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=532, frequency (Hz): min=1616, max=15306
Sync err accum 70, peak jitter 0/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1934008277 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 06:00:06 [debug] Driver 0: pos -9596, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15982, writes 0 timeouts 0
2025-04-29 06:00:06 [debug] Last sensors broadcast 0x00000000 found 0 104 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 86, 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 434, adv 35629/37152
2025-04-29 06:00:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2269
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10371, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:00:06 [info] currentZPosition:0.00815
2025-04-29 06:00:07 [debug] Stopped at height 0.008 mm
2025-04-29 06:00:07 [debug] Diagnostics for board 50:
2025-04-29 06:00:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:00:07 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:47:58 ago, cause: software
2025-04-29 06:00:07 [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
2025-04-29 06:00:07 [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
2025-04-29 06:00:07 [debug] Moves scheduled 26955, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=688, frequency (Hz): min=1320, max=15306
Sync err accum 78, peak jitter 1/2, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1932870931 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max 
2025-04-29 06:00:07 [debug] Driver 0: pos -9601, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17742, writes 0 timeouts 0
2025-04-29 06:00:07 [debug] Last sensors broadcast 0x00000000 found 0 118 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 92, 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 378, adv 35991/37118
2025-04-29 06:00:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10406, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:00:07 [info] currentZPosition:0.00765
2025-04-29 06:00:08 [debug] Stopped at height 0.008 mm
2025-04-29 06:00:08 [debug] Diagnostics for board 50:
2025-04-29 06:00:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:00:08 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.6%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:48:00 ago, cause: software
2025-04-29 06:00:08 [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
2025-04-29 06:00:08 [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
2025-04-29 06:00:08 [debug] Moves scheduled 26959, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=494, frequency (Hz): min=1704, max=15306
Sync err accum 84, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1931848922 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max 
2025-04-29 06:00:08 [debug] Driver 0: pos -9595, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15883, writes 0 timeouts 0
2025-04-29 06:00:08 [debug] Last sensors broadcast 0x00000000 found 0 232 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 82, 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 406, adv 35762/37055
2025-04-29 06:00:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10332, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:00:09 [info] currentZPosition:0.00825
2025-04-29 06:00:10 [debug] Stopped at height 0.007 mm
2025-04-29 06:00:10 [debug] Diagnostics for board 50:
2025-04-29 06:00:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:00:10 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:48:01 ago, cause: software
2025-04-29 06:00:10 [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
2025-04-29 06:00:10 [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
2025-04-29 06:00:10 [debug] Moves scheduled 26963, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=646, frequency (Hz): min=1450, max=15625
Sync err accum 84, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 1930702684 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:00:10 [debug] Driver 0: pos -9604, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18030, writes 0 timeouts 0
2025-04-29 06:00:10 [debug] Last sensors broadcast 0x00000000 found 0 12 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 96, 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 427, adv 35906/37120
2025-04-29 06:00:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10405, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:00:10 [info] currentZPosition:0.00736
2025-04-29 06:00:11 [debug] Stopped at height 0.007 mm
2025-04-29 06:00:11 [debug] Diagnostics for board 50:
2025-04-29 06:00:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:00:11 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.8%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:48:03 ago, cause: software
2025-04-29 06:00:11 [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
2025-04-29 06:00:11 [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
2025-04-29 06:00:11 [debug] Moves scheduled 26967, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=452, frequency (Hz): min=1626, max=15306
Sync err accum 81, peak jitter -1/0, peak Rx delay 185, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 1929668325 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:00:11 [debug] Driver 0: pos -9606, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16034, writes 0 timeouts 0
2025-04-29 06:00:11 [debug] Last sensors broadcast 0x00000000 found 0 138 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 92, send timeouts 0, received 22, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 35651/37113
2025-04-29 06:00:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10399, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:00:11 [info] currentZPosition:0.00716
2025-04-29 06:00:13 [debug] Stopped at height 0.009 mm
2025-04-29 06:00:13 [debug] Diagnostics for board 50:
2025-04-29 06:00:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:00:13 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:48:04 ago, cause: software
2025-04-29 06:00:13 [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
2025-04-29 06:00:13 [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
2025-04-29 06:00:13 [debug] Moves scheduled 26971, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 271, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=529, frequency (Hz): min=1488, max=15306
Sync err accum 75, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 1928569997 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:00:13 [debug] Driver 0: pos -9589, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17234, writes 0 timeouts 0
2025-04-29 06:00:13 [debug] Last sensors broadcast 0x00000000 found 0 104 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 84, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 35656/37106
2025-04-29 06:00:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10304, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:00:13 [info] currentZPosition:0.00885
2025-04-29 06:00:13 [debug] Stopped at height 0.008 mm
2025-04-29 06:00:15 [debug] Stopped at height 0.007 mm
2025-04-29 06:00:15 [debug] Diagnostics for board 50:
2025-04-29 06:00:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:00:15 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:48:06 ago, cause: software
2025-04-29 06:00:15 [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
2025-04-29 06:00:15 [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
2025-04-29 06:00:15 [debug] Moves scheduled 26977, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=501, frequency (Hz): min=1760, max=15306
Sync err accum 62, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1927277140 ticks, 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
2025-04-29 06:00:15 [debug] Driver 0: pos -9605, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20315, writes 0 timeouts 0
2025-04-29 06:00:15 [debug] Last sensors broadcast 0x00000000 found 0 79 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 107, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36065/37156
2025-04-29 06:00:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10430, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:00:15 [info] currentZPosition:0.00726
2025-04-29 06:00:16 [debug] Stopped at height 0.008 mm
2025-04-29 06:00:16 [debug] Diagnostics for board 50:
2025-04-29 06:00:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:00:16 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:48:07 ago, cause: software
2025-04-29 06:00:16 [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
2025-04-29 06:00:16 [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
2025-04-29 06:00:16 [debug] Moves scheduled 26981, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 306, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=568, frequency (Hz): min=1530, max=15306
Sync err accum 68, peak jitter 0/2, peak Rx delay 187, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1926166011 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:00:16 [debug] Driver 0: pos -9597, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17322, writes 0 timeouts 0
2025-04-29 06:00:16 [debug] Last sensors broadcast 0x00000000 found 0 60 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 89, 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 395, adv 36259/37087
2025-04-29 06:00:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10378, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4707, no error
Lin: Encoder reverse polarity: no, raw count 2268
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:00:16 [info] currentZPosition:0.00805
2025-04-29 06:00:17 [debug] Stopped at height 0.008 mm
2025-04-29 06:00:17 [debug] Diagnostics for board 50:
2025-04-29 06:00:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:00:17 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.8%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:48:09 ago, cause: software
2025-04-29 06:00:17 [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
2025-04-29 06:00:17 [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
2025-04-29 06:00:17 [debug] Moves scheduled 26985, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 387, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=696, frequency (Hz): min=1237, max=15306
Sync err accum 70, peak jitter 0/1, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1925137992 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 06:00:17 [debug] Driver 0: pos -9597, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15948, writes 0 timeouts 0
2025-04-29 06:00:17 [debug] Last sensors broadcast 0x00000000 found 0 181 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 86, 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 454, adv 35598/37099
2025-04-29 06:00:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2268
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10358, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:00:17 [info] currentZPosition:0.00805
2025-04-29 06:00:19 [debug] Stopped at height 0.007 mm
2025-04-29 06:00:19 [debug] Diagnostics for board 50:
2025-04-29 06:00:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:00:19 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:48:10 ago, cause: software
2025-04-29 06:00:19 [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
2025-04-29 06:00:19 [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
2025-04-29 06:00:19 [debug] Moves scheduled 26989, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 306, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=553, frequency (Hz): min=1527, max=15306
Sync err accum 64, peak jitter -1/0, peak Rx delay 195, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 1923997179 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:00:19 [debug] Driver 0: pos -9604, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17826, writes 0 timeouts 0
2025-04-29 06:00:19 [debug] Last sensors broadcast 0x00000000 found 0 203 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 90, 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 368, adv 36120/37122
2025-04-29 06:00:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10383, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:00:19 [info] currentZPosition:0.00746
2025-04-29 06:00:20 [debug] Stopped at height 0.008 mm
2025-04-29 06:00:20 [debug] Diagnostics for board 50:
2025-04-29 06:00:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:00:20 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.7%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:48:12 ago, cause: software
2025-04-29 06:00:20 [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
2025-04-29 06:00:20 [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
2025-04-29 06:00:20 [debug] Moves scheduled 26993, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 167, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=614, frequency (Hz): min=1488, max=15306
Sync err accum 68, peak jitter -1/2, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1922962323 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max
2025-04-29 06:00:20 [debug] Driver 0: pos -9603, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16048, writes 0 timeouts 0
2025-04-29 06:00:20 [debug] Last sensors broadcast 0x00000000 found 0 79 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 90, 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 370, adv 35806/37111
2025-04-29 06:00:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10357, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:00:20 [info] currentZPosition:0.00755
2025-04-29 06:00:22 [debug] Stopped at height 0.008 mm
2025-04-29 06:00:22 [debug] Diagnostics for board 50:
2025-04-29 06:00:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:00:22 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:48:13 ago, cause: software
2025-04-29 06:00:22 [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
2025-04-29 06:00:22 [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
2025-04-29 06:00:22 [debug] Moves scheduled 26997, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=525, frequency (Hz): min=1439, max=15625
Sync err accum 69, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 1921838628 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 06:00:22 [debug] Driver 0: pos -9598, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17599, writes 0 timeouts 0
2025-04-29 06:00:22 [debug] Last sensors broadcast 0x00000000 found 0 78 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 87, 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 810, adv 35955/37087
2025-04-29 06:00:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10330, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:00:22 [info] currentZPosition:0.00805
2025-04-29 06:00:23 [debug] Stopped at height 0.007 mm
2025-04-29 06:00:23 [debug] Diagnostics for board 50:
2025-04-29 06:00:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:00:23 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:48:14 ago, cause: software
2025-04-29 06:00:23 [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
2025-04-29 06:00:23 [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
2025-04-29 06:00:23 [debug] Moves scheduled 27001, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=569, frequency (Hz): min=1482, max=15306
Sync err accum 67, peak jitter -1/0, peak Rx delay 184, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1920796548 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max
2025-04-29 06:00:23 [debug] Driver 0: pos -9604, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16225, writes 0 timeouts 0
2025-04-29 06:00:23 [debug] Last sensors broadcast 0x00000000 found 0 221 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 88, send timeouts 0, received 22, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 35988/37122
2025-04-29 06:00:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10425, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:00:23 [info] currentZPosition:0.00746
2025-04-29 06:00:25 [debug] Stopped at height 0.008 mm
2025-04-29 06:00:25 [debug] Diagnostics for board 50:
2025-04-29 06:00:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:00:25 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:48:16 ago, cause: software
2025-04-29 06:00:25 [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
2025-04-29 06:00:25 [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
2025-04-29 06:00:25 [debug] Moves scheduled 27005, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 159, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=717, frequency (Hz): min=1288, max=15306
Sync err accum 64, peak jitter -2/2, peak Rx delay 199, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1919680660 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max
2025-04-29 06:00:25 [debug] Driver 0: pos -9598, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17411, writes 0 timeouts 0
2025-04-29 06:00:25 [debug] Last sensors broadcast 0x00000000 found 0 205 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 86, send timeouts 0, received 22, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 35769/37123
2025-04-29 06:00:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10341, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:00:25 [info] currentZPosition:0.00805
2025-04-29 06:00:26 [debug] Stopped at height 0.009 mm
2025-04-29 06:00:26 [debug] Diagnostics for board 50:
2025-04-29 06:00:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:00:26 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:48:17 ago, cause: software
2025-04-29 06:00:26 [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
2025-04-29 06:00:26 [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
2025-04-29 06:00:26 [debug] Moves scheduled 27009, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=445, frequency (Hz): min=1681, max=15625
Sync err accum 67, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 1918657264 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:00:26 [debug] Driver 0: pos -9593, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15960, writes 0 timeouts 0
2025-04-29 06:00:26 [debug] Last sensors broadcast 0x00000000 found 0 70 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 83, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36216/37126
2025-04-29 06:00:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10342, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:00:26 [info] currentZPosition:0.00855
2025-04-29 06:00:28 [debug] Stopped at height 0.007 mm
2025-04-29 06:00:28 [debug] Diagnostics for board 50:
2025-04-29 06:00:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:00:28 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:48:19 ago, cause: software
2025-04-29 06:00:28 [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
2025-04-29 06:00:28 [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
2025-04-29 06:00:28 [debug] Moves scheduled 27013, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=592, frequency (Hz): min=560, max=15306
Sync err accum 71, peak jitter 0/1, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1917510408 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max 3
2025-04-29 06:00:28 [debug] Driver 0: pos -9606, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17982, writes 11 timeouts 1
2025-04-29 06:00:28 [debug] Last sensors broadcast 0x00000000 found 0 103 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 93, 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 449, adv 36359/37115
2025-04-29 06:00:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10415, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2279
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:00:28 [info] currentZPosition:0.00726
2025-04-29 06:00:28 [debug] Stopped at height 0.006 mm
2025-04-29 06:00:29 [debug] Stopped at height 0.009 mm
2025-04-29 06:00:29 [debug] Diagnostics for board 50:
2025-04-29 06:00:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:00:29 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.9%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:48:21 ago, cause: software
2025-04-29 06:00:29 [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
2025-04-29 06:00:29 [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
2025-04-29 06:00:29 [debug] Moves scheduled 27019, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 383, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=492, frequency (Hz): min=1666, max=15306
Sync err accum 76, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1916256283 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:00:29 [debug] Driver 0: pos -9592, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 19628, writes 0 timeouts 0
2025-04-29 06:00:29 [debug] Last sensors broadcast 0x00000000 found 0 20 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 102, 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 376, adv 35588/37128
2025-04-29 06:00:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10353, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:00:29 [info] currentZPosition:0.00865
2025-04-29 06:00:30 [debug] Stopped at height 0.008 mm
2025-04-29 06:00:31 [debug] Stopped at height 0.007 mm
2025-04-29 06:00:31 [debug] Diagnostics for board 50:
2025-04-29 06:00:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:00:31 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:48:22 ago, cause: software
2025-04-29 06:00:31 [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
2025-04-29 06:00:31 [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
2025-04-29 06:00:31 [debug] Moves scheduled 27025, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=562, frequency (Hz): min=1500, max=15306
Sync err accum 69, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1914860007 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max
2025-04-29 06:00:31 [debug] Driver 0: pos -9607, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 22051, writes 0 timeouts 0
2025-04-29 06:00:31 [debug] Last sensors broadcast 0x00000000 found 0 134 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 102, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 397, adv 36148/37129
2025-04-29 06:00:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10410, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2279
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:00:31 [info] currentZPosition:0.00716
2025-04-29 06:00:32 [debug] Stopped at height 0.008 mm
2025-04-29 06:00:32 [debug] Diagnostics for board 50:
2025-04-29 06:00:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:00:32 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.8%
Owned mutexes:
Last reset 16:48:24 ago, cause: software
2025-04-29 06:00:32 [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
2025-04-29 06:00:32 [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
2025-04-29 06:00:32 [debug] Moves scheduled 27029, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=513, frequency (Hz): min=1582, max=15306
Sync err accum 62, peak jitter -2/-1, peak Rx delay 195, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 1913841457 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 06:00:32 [debug] Driver 0: pos -9601, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15865, writes 0 timeouts 0
2025-04-29 06:00:32 [debug] Last sensors broadcast 0x00000000 found 0 240 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 87, 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 375, adv 35807/37158
2025-04-29 06:00:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10379, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:00:33 [info] currentZPosition:0.00785
2025-04-29 06:00:34 [debug] Stopped at height 0.008 mm
2025-04-29 06:00:34 [debug] Diagnostics for board 50:
2025-04-29 06:00:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:00:34 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:48:25 ago, cause: software
2025-04-29 06:00:34 [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
2025-04-29 06:00:34 [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
2025-04-29 06:00:34 [debug] Moves scheduled 27033, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=541, frequency (Hz): min=1644, max=15306
Sync err accum 74, peak jitter 0/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 0 ticks, disabled, next step interrupt due in 1912726567 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:00:34 [debug] Driver 0: pos -9596, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17468, writes 0 timeouts 0
2025-04-29 06:00:34 [debug] Last sensors broadcast 0x00000000 found 0 228 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 86, send timeouts 0, received 22, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36015/37122
2025-04-29 06:00:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10372, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2267
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:00:34 [info] currentZPosition:0.00835
2025-04-29 06:00:35 [debug] Stopped at height 0.008 mm
2025-04-29 06:00:35 [debug] Diagnostics for board 50:
2025-04-29 06:00:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:00:35 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.7%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:48:27 ago, cause: software
2025-04-29 06:00:35 [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
2025-04-29 06:00:35 [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
2025-04-29 06:00:35 [debug] Moves scheduled 27037, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 162, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=510, frequency (Hz): min=1436, max=15306
Sync err accum 83, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1911691521 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max 
2025-04-29 06:00:35 [debug] Driver 0: pos -9599, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16100, writes 0 timeouts 0
2025-04-29 06:00:35 [debug] Last sensors broadcast 0x00000000 found 0 109 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 88, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36030/37108
2025-04-29 06:00:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10392, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:00:35 [info] currentZPosition:0.00805
2025-04-29 06:00:37 [debug] Stopped at height 0.009 mm
2025-04-29 06:00:37 [debug] Diagnostics for board 50:
2025-04-29 06:00:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:00:37 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:48:28 ago, cause: software
2025-04-29 06:00:37 [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
2025-04-29 06:00:37 [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
2025-04-29 06:00:37 [debug] Moves scheduled 27041, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=729, frequency (Hz): min=1302, max=15000
Sync err accum 87, peak jitter 0/1, peak Rx delay 186, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1910588292 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max 
2025-04-29 06:00:37 [debug] Driver 0: pos -9590, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17273, writes 0 timeouts 0
2025-04-29 06:00:37 [debug] Last sensors broadcast 0x00000000 found 0 78 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 83, 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 383, adv 35851/37078
2025-04-29 06:00:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2268
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10304, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:00:37 [info] currentZPosition:0.00895
2025-04-29 06:00:38 [debug] Stopped at height 0.008 mm
2025-04-29 06:00:38 [debug] Diagnostics for board 50:
2025-04-29 06:00:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:00:38 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:48:29 ago, cause: software
2025-04-29 06:00:38 [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
2025-04-29 06:00:38 [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
2025-04-29 06:00:38 [debug] Moves scheduled 27045, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=600, frequency (Hz): min=1453, max=15306
Sync err accum 90, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1909543039 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max 
2025-04-29 06:00:38 [debug] Driver 0: pos -9598, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16379, writes 0 timeouts 0
2025-04-29 06:00:38 [debug] Last sensors broadcast 0x00000000 found 0 226 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 87, 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 375, adv 36280/37137
2025-04-29 06:00:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10364, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:00:38 [info] currentZPosition:0.00815
2025-04-29 06:00:40 [debug] Stopped at height 0.007 mm
2025-04-29 06:00:40 [debug] Diagnostics for board 50:
2025-04-29 06:00:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:00:40 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:48:31 ago, cause: software
2025-04-29 06:00:40 [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
2025-04-29 06:00:40 [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
2025-04-29 06:00:40 [debug] Moves scheduled 27049, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=794, frequency (Hz): min=1086, max=15306
Sync err accum 87, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1908390488 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max
2025-04-29 06:00:40 [debug] Driver 0: pos -9611, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18035, writes 0 timeouts 0
2025-04-29 06:00:40 [debug] Last sensors broadcast 0x00000000 found 0 8 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 98, 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 361, adv 35714/37141
2025-04-29 06:00:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10398, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:00:40 [info] currentZPosition:0.00686
2025-04-29 06:00:40 [debug] Stopped at height 0.007 mm
2025-04-29 06:00:41 [debug] Stopped at height 0.009 mm
2025-04-29 06:00:41 [debug] Diagnostics for board 50:
2025-04-29 06:00:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:00:41 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.8%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:48:33 ago, cause: software
2025-04-29 06:00:41 [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
2025-04-29 06:00:41 [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
2025-04-29 06:00:41 [debug] Moves scheduled 27055, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 229, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=517, frequency (Hz): min=1461, max=15306
Sync err accum 78, peak jitter -2/0, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 1907159685 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:00:41 [debug] Driver 0: pos -9592, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 19377, writes 0 timeouts 0
2025-04-29 06:00:41 [debug] Last sensors broadcast 0x00000000 found 0 150 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 91, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 35672/37096
2025-04-29 06:00:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10329, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:00:41 [info] currentZPosition:0.00875
2025-04-29 06:00:42 [debug] Stopped at height 0.007 mm
2025-04-29 06:00:43 [debug] Stopped at height 0.008 mm
2025-04-29 06:00:43 [debug] Diagnostics for board 50:
2025-04-29 06:00:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:00:43 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:48:34 ago, cause: software
2025-04-29 06:00:43 [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
2025-04-29 06:00:43 [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
2025-04-29 06:00:43 [debug] Moves scheduled 27061, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=585, frequency (Hz): min=1428, max=15306
Sync err accum 63, peak jitter -3/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 1905781254 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 06:00:43 [debug] Driver 0: pos -9604, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 21718, writes 0 timeouts 0
2025-04-29 06:00:43 [debug] Last sensors broadcast 0x00000000 found 0 239 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 108, 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 376, adv 36288/37125
2025-04-29 06:00:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10426, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4696, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:00:43 [info] currentZPosition:0.00755
2025-04-29 06:00:45 [debug] Stopped at height 0.008 mm
2025-04-29 06:00:45 [debug] Diagnostics for board 50:
2025-04-29 06:00:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:00:45 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.9%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:48:36 ago, cause: software
2025-04-29 06:00:45 [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
2025-04-29 06:00:45 [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
2025-04-29 06:00:45 [debug] Moves scheduled 27065, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=477, frequency (Hz): min=1445, max=15625
Sync err accum 67, peak jitter -1/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1904752711 ticks, 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
2025-04-29 06:00:45 [debug] Driver 0: pos -9602, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15932, writes 0 timeouts 0
2025-04-29 06:00:45 [debug] Last sensors broadcast 0x00000000 found 0 109 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 88, 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 375, adv 35853/37120
2025-04-29 06:00:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10362, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:00:45 [info] currentZPosition:0.00775
2025-04-29 06:00:46 [debug] Stopped at height 0.008 mm
2025-04-29 06:00:46 [debug] Diagnostics for board 50:
2025-04-29 06:00:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:00:46 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:48:37 ago, cause: software
2025-04-29 06:00:46 [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
2025-04-29 06:00:46 [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
2025-04-29 06:00:46 [debug] Moves scheduled 27069, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=481, frequency (Hz): min=585, max=15306
Sync err accum 72, peak jitter 0/1, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 1903630032 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, curr
2025-04-29 06:00:46 [debug] Driver 0: pos -9600, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17536, writes 11 timeouts 1
2025-04-29 06:00:46 [debug] Last sensors broadcast 0x00000000 found 0 108 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 93, 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 383, adv 36054/37127
2025-04-29 06:00:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10371, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:00:46 [info] currentZPosition:0.00795
2025-04-29 06:00:47 [debug] Stopped at height 0.009 mm
2025-04-29 06:00:47 [debug] Diagnostics for board 50:
2025-04-29 06:00:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:00:47 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.5%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:48:39 ago, cause: software
2025-04-29 06:00:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:00:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:00:47 [debug] Moves scheduled 27073, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 359, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=460, frequency (Hz): min=660, max=15306
Sync err accum 71, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1902611525 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max 
2025-04-29 06:00:47 [debug] Driver 0: pos -9593, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15841, writes 11 timeouts 1
2025-04-29 06:00:47 [debug] Last sensors broadcast 0x00000000 found 0 215 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 82, send timeouts 0, received 22, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36043/37115
2025-04-29 06:00:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10357, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:00:48 [info] currentZPosition:0.00865
2025-04-29 06:00:49 [debug] Stopped at height 0.008 mm
2025-04-29 06:00:49 [debug] Diagnostics for board 50:
2025-04-29 06:00:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:00:49 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:48:40 ago, cause: software
2025-04-29 06:00:49 [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
2025-04-29 06:00:49 [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
2025-04-29 06:00:49 [debug] Moves scheduled 27077, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=650, frequency (Hz): min=1373, max=15306
Sync err accum 67, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1901473673 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max
2025-04-29 06:00:49 [debug] Driver 0: pos -9601, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17871, writes 0 timeouts 0
2025-04-29 06:00:49 [debug] Last sensors broadcast 0x00000000 found 0 231 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 90, 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 373, adv 35926/37136
2025-04-29 06:00:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2269
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10383, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:00:49 [info] currentZPosition:0.00795
2025-04-29 06:00:50 [debug] Stopped at height 0.008 mm
2025-04-29 06:00:50 [debug] Diagnostics for board 50:
2025-04-29 06:00:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:00:50 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.5%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:48:42 ago, cause: software
2025-04-29 06:00:50 [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
2025-04-29 06:00:50 [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
2025-04-29 06:00:50 [debug] Moves scheduled 27081, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 454, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=709, frequency (Hz): min=1271, max=15306
Sync err accum 63, peak jitter -2/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1900450285 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max
2025-04-29 06:00:50 [debug] Driver 0: pos -9598, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15928, writes 0 timeouts 0
2025-04-29 06:00:50 [debug] Last sensors broadcast 0x00000000 found 0 97 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 88, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36234/37084
2025-04-29 06:00:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10348, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2268
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:00:50 [info] currentZPosition:0.00835
2025-04-29 06:00:52 [debug] Stopped at height 0.009 mm
2025-04-29 06:00:52 [debug] Diagnostics for board 50:
2025-04-29 06:00:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:00:52 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:48:43 ago, cause: software
2025-04-29 06:00:52 [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
2025-04-29 06:00:52 [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
2025-04-29 06:00:52 [debug] Moves scheduled 27085, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=585, frequency (Hz): min=1299, max=15306
Sync err accum 71, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1899333066 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 06:00:52 [debug] Driver 0: pos -9596, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17548, writes 0 timeouts 0
2025-04-29 06:00:52 [debug] Last sensors broadcast 0x00000000 found 0 86 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 83, 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 400, adv 35729/37107
2025-04-29 06:00:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10328, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:00:52 [info] currentZPosition:0.00855
2025-04-29 06:00:53 [debug] Stopped at height 0.009 mm
2025-04-29 06:00:53 [debug] Diagnostics for board 50:
2025-04-29 06:00:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:00:53 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.2%
Owned mutexes:
Last reset 16:48:44 ago, cause: software
2025-04-29 06:00:53 [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
2025-04-29 06:00:53 [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
2025-04-29 06:00:53 [debug] Moves scheduled 27089, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=576, frequency (Hz): min=1442, max=15306
Sync err accum 77, peak jitter 0/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1898298780 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:00:53 [debug] Driver 0: pos -9596, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16137, writes 0 timeouts 0
2025-04-29 06:00:53 [debug] Last sensors broadcast 0x00000000 found 0 215 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 84, 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 366, adv 35741/37112
2025-04-29 06:00:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10375, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2268
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:00:53 [info] currentZPosition:0.00855
2025-04-29 06:00:55 [debug] Stopped at height 0.009 mm
2025-04-29 06:00:55 [debug] Diagnostics for board 50:
2025-04-29 06:00:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:00:55 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:48:46 ago, cause: software
2025-04-29 06:00:55 [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
2025-04-29 06:00:55 [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
2025-04-29 06:00:55 [debug] Moves scheduled 27093, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=696, frequency (Hz): min=909, max=15306
Sync err accum 79, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1897176218 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-29 06:00:55 [debug] Driver 0: pos -9595, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17606, writes 0 timeouts 0
2025-04-29 06:00:55 [debug] Last sensors broadcast 0x00000000 found 0 211 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 88, 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 386, adv 36324/37134
2025-04-29 06:00:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10326, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:00:55 [info] currentZPosition:0.00865
2025-04-29 06:00:56 [debug] Stopped at height 0.008 mm
2025-04-29 06:00:56 [debug] Diagnostics for board 50:
2025-04-29 06:00:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:00:56 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:48:47 ago, cause: software
2025-04-29 06:00:56 [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
2025-04-29 06:00:56 [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
2025-04-29 06:00:56 [debug] Moves scheduled 27097, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 307, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=494, frequency (Hz): min=1476, max=15000
Sync err accum 76, peak jitter -1/0, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 1896125533 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:00:56 [debug] Driver 0: pos -9604, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16420, writes 0 timeouts 0
2025-04-29 06:00:56 [debug] Last sensors broadcast 0x00000000 found 0 112 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 85, 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 386, adv 35886/37151
2025-04-29 06:00:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10403, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:00:56 [info] currentZPosition:0.00775
2025-04-29 06:00:58 [debug] Stopped at height 0.009 mm
2025-04-29 06:00:58 [debug] Diagnostics for board 50:
2025-04-29 06:00:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:00:58 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:48:49 ago, cause: software
2025-04-29 06:00:58 [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
2025-04-29 06:00:58 [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
2025-04-29 06:00:58 [debug] Moves scheduled 27101, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 279, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=790, frequency (Hz): min=1116, max=15306
Sync err accum 70, peak jitter -2/0, peak Rx delay 203, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 1895023533 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:00:58 [debug] Driver 0: pos -9594, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17262, writes 0 timeouts 0
2025-04-29 06:00:58 [debug] Last sensors broadcast 0x00000000 found 0 84 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 83, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36115/37172
2025-04-29 06:00:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10315, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:00:58 [info] currentZPosition:0.00875
2025-04-29 06:00:59 [debug] Stopped at height 0.008 mm
2025-04-29 06:00:59 [debug] Diagnostics for board 50:
2025-04-29 06:00:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:00:59 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:48:50 ago, cause: software
2025-04-29 06:00:59 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:00:59 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:00:59 [debug] Moves scheduled 27105, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 160, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=678, frequency (Hz): min=1107, max=15306
Sync err accum 61, peak jitter -2/-1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 1893976865 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 06:00:59 [debug] Driver 0: pos -9603, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16314, writes 0 timeouts 0
2025-04-29 06:00:59 [debug] Last sensors broadcast 0x00000000 found 0 227 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 86, send timeouts 0, received 22, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36075/37113
2025-04-29 06:00:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10403, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:00:59 [info] currentZPosition:0.00785
2025-04-29 06:01:00 [debug] Stopped at height 0.007 mm
2025-04-29 06:01:00 [debug] Diagnostics for board 50:
2025-04-29 06:01:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:01:00 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:48:52 ago, cause: software
2025-04-29 06:01:00 [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
2025-04-29 06:01:00 [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
2025-04-29 06:01:00 [debug] Moves scheduled 27109, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=484, frequency (Hz): min=1756, max=15306
Sync err accum 70, peak jitter 0/3, peak Rx delay 185, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1892843300 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 06:01:00 [debug] Driver 0: pos -9608, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17756, writes 0 timeouts 0
2025-04-29 06:01:00 [debug] Last sensors broadcast 0x00000000 found 0 240 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 101, 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 375, adv 36006/37122
2025-04-29 06:01:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10439, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:01:01 [info] currentZPosition:0.00746
2025-04-29 06:01:02 [debug] Stopped at height 0.009 mm
2025-04-29 06:01:02 [debug] Diagnostics for board 50:
2025-04-29 06:01:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:01:02 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:48:53 ago, cause: software
2025-04-29 06:01:02 [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
2025-04-29 06:01:02 [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
2025-04-29 06:01:02 [debug] Moves scheduled 27113, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=524, frequency (Hz): min=1612, max=15306
Sync err accum 77, peak jitter 1/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1891829649 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 06:01:02 [debug] Driver 0: pos -9597, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15720, writes 0 timeouts 0
2025-04-29 06:01:02 [debug] Last sensors broadcast 0x00000000 found 0 91 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 91, send timeouts 0, received 22, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36214/37119
2025-04-29 06:01:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10378, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:01:02 [info] currentZPosition:0.00855
2025-04-29 06:01:03 [debug] Stopped at height 0.008 mm
2025-04-29 06:01:03 [debug] Diagnostics for board 50:
2025-04-29 06:01:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:01:03 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:48:55 ago, cause: software
2025-04-29 06:01:03 [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
2025-04-29 06:01:03 [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
2025-04-29 06:01:03 [debug] Moves scheduled 27117, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=494, frequency (Hz): min=1431, max=15306
Sync err accum 79, peak jitter 0/1, peak Rx delay 187, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1890710581 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 06:01:03 [debug] Driver 0: pos -9598, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17576, writes 0 timeouts 0
2025-04-29 06:01:03 [debug] Last sensors broadcast 0x00000000 found 0 83 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 83, 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 389, adv 35755/37122
2025-04-29 06:01:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10371, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:01:03 [info] currentZPosition:0.00845
2025-04-29 06:01:05 [debug] Stopped at height 0.009 mm
2025-04-29 06:01:05 [debug] Diagnostics for board 50:
2025-04-29 06:01:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:01:05 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:48:56 ago, cause: software
2025-04-29 06:01:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:01:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:01:05 [debug] Moves scheduled 27121, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=538, frequency (Hz): min=632, max=15306
Sync err accum 77, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1889675342 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 06:01:05 [debug] Driver 0: pos -9597, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16099, writes 11 timeouts 1
2025-04-29 06:01:05 [debug] Last sensors broadcast 0x00000000 found 0 216 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 83, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 35666/37163
2025-04-29 06:01:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10351, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:01:05 [info] currentZPosition:0.00855
2025-04-29 06:01:06 [debug] Stopped at height 0.008 mm
2025-04-29 06:01:06 [debug] Diagnostics for board 50:
2025-04-29 06:01:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:01:06 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:48:57 ago, cause: software
2025-04-29 06:01:06 [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
2025-04-29 06:01:06 [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
2025-04-29 06:01:06 [debug] Moves scheduled 27125, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 160, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=501, frequency (Hz): min=1693, max=15306
Sync err accum 71, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1888537461 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max
2025-04-29 06:01:06 [debug] Driver 0: pos -9604, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17836, writes 0 timeouts 0
2025-04-29 06:01:06 [debug] Last sensors broadcast 0x00000000 found 0 231 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 90, 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 389, adv 35571/37159
2025-04-29 06:01:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10406, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:01:06 [info] currentZPosition:0.00785
2025-04-29 06:01:08 [debug] Stopped at height 0.009 mm
2025-04-29 06:01:08 [debug] Diagnostics for board 50:
2025-04-29 06:01:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:01:08 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.6%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:48:59 ago, cause: software
2025-04-29 06:01:08 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:01:08 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:01:08 [debug] Moves scheduled 27129, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 300, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=536, frequency (Hz): min=1308, max=15306
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 1887519732 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:01:08 [debug] Driver 0: pos -9596, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15832, writes 0 timeouts 0
2025-04-29 06:01:08 [debug] Last sensors broadcast 0x00000000 found 0 88 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 85, 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 380, adv 36263/37121
2025-04-29 06:01:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10344, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:01:08 [info] currentZPosition:0.00865
2025-04-29 06:01:09 [debug] Stopped at height 0.008 mm
2025-04-29 06:01:09 [debug] Diagnostics for board 50:
2025-04-29 06:01:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:01:09 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:49:00 ago, cause: software
2025-04-29 06:01:09 [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
2025-04-29 06:01:09 [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
2025-04-29 06:01:09 [debug] Moves scheduled 27133, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 162, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=592, frequency (Hz): min=1412, max=15306
Sync err accum 64, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1886386885 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max 
2025-04-29 06:01:09 [debug] Driver 0: pos -9603, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17757, writes 0 timeouts 0
2025-04-29 06:01:09 [debug] Last sensors broadcast 0x00000000 found 0 101 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 94, 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 387, adv 36196/37092
2025-04-29 06:01:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10363, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:01:09 [info] currentZPosition:0.00795
2025-04-29 06:01:10 [debug] Stopped at height 0.009 mm
2025-04-29 06:01:10 [debug] Diagnostics for board 50:
2025-04-29 06:01:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:01:10 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.3%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:49:02 ago, cause: software
2025-04-29 06:01:10 [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
2025-04-29 06:01:10 [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
2025-04-29 06:01:10 [debug] Moves scheduled 27137, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=556, frequency (Hz): min=1530, max=15306
Sync err accum 66, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1885365302 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:01:10 [debug] Driver 0: pos -9595, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15945, writes 0 timeouts 0
2025-04-29 06:01:10 [debug] Last sensors broadcast 0x00000000 found 0 209 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 83, 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 372, adv 36098/37093
2025-04-29 06:01:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10372, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:01:11 [info] currentZPosition:0.00875
2025-04-29 06:01:12 [debug] Stopped at height 0.009 mm
2025-04-29 06:01:12 [debug] Diagnostics for board 50:
2025-04-29 06:01:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:01:12 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:49:03 ago, cause: software
2025-04-29 06:01:12 [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
2025-04-29 06:01:12 [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
2025-04-29 06:01:12 [debug] Moves scheduled 27141, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 326, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=529, frequency (Hz): min=1417, max=15306
Sync err accum 65, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1884250244 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max
2025-04-29 06:01:12 [debug] Driver 0: pos -9594, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17637, writes 0 timeouts 0
2025-04-29 06:01:12 [debug] Last sensors broadcast 0x00000000 found 0 197 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 86, 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 379, adv 36022/37085
2025-04-29 06:01:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10356, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:01:12 [info] currentZPosition:0.00885
2025-04-29 06:01:13 [debug] Stopped at height 0.009 mm
2025-04-29 06:01:13 [debug] Diagnostics for board 50:
2025-04-29 06:01:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:01:13 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:49:05 ago, cause: software
2025-04-29 06:01:13 [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
2025-04-29 06:01:13 [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
2025-04-29 06:01:13 [debug] Moves scheduled 27145, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=542, frequency (Hz): min=1512, max=15306
Sync err accum 66, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1883218333 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max
2025-04-29 06:01:13 [debug] Driver 0: pos -9595, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16262, writes 0 timeouts 0
2025-04-29 06:01:13 [debug] Last sensors broadcast 0x00000000 found 0 81 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 84, 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 605, adv 36244/37106
2025-04-29 06:01:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10364, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2268
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:01:13 [info] currentZPosition:0.00875
2025-04-29 06:01:15 [debug] Stopped at height 0.009 mm
2025-04-29 06:01:15 [debug] Diagnostics for board 50:
2025-04-29 06:01:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:01:15 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:49:06 ago, cause: software
2025-04-29 06:01:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:01:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:01:15 [debug] Moves scheduled 27149, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=560, frequency (Hz): min=1353, max=15306
Sync err accum 63, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1882097098 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max
2025-04-29 06:01:15 [debug] Driver 0: pos -9592, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17514, writes 0 timeouts 0
2025-04-29 06:01:15 [debug] Last sensors broadcast 0x00000000 found 0 68 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 83, 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 358, adv 35918/37106
2025-04-29 06:01:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10331, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:01:15 [info] currentZPosition:0.00905
2025-04-29 06:01:16 [debug] Stopped at height 0.009 mm
2025-04-29 06:01:16 [debug] Diagnostics for board 50:
2025-04-29 06:01:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:01:16 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:49:07 ago, cause: software
2025-04-29 06:01:16 [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
2025-04-29 06:01:16 [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
2025-04-29 06:01:16 [debug] Moves scheduled 27153, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=37, max=546, frequency (Hz): min=602, max=15306
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 1881061070 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:01:16 [debug] Driver 0: pos -9596, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16115, writes 11 timeouts 1
2025-04-29 06:01:16 [debug] Last sensors broadcast 0x00000000 found 0 200 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 83, 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 386, adv 35642/37072
2025-04-29 06:01:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10347, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:01:16 [info] currentZPosition:0.00865
2025-04-29 06:01:18 [debug] Stopped at height 0.009 mm
2025-04-29 06:01:18 [debug] Diagnostics for board 50:
2025-04-29 06:01:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:01:18 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:49:09 ago, cause: software
2025-04-29 06:01:18 [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
2025-04-29 06:01:18 [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
2025-04-29 06:01:18 [debug] Moves scheduled 27157, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 304, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=728, frequency (Hz): min=1196, max=15625
Sync err accum 71, peak jitter -1/1, peak Rx delay 187, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1879958023 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max
2025-04-29 06:01:18 [debug] Driver 0: pos -9590, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17365, writes 0 timeouts 0
2025-04-29 06:01:18 [debug] Last sensors broadcast 0x00000000 found 0 171 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 83, 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 420, adv 35715/37125
2025-04-29 06:01:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2269
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10327, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:01:18 [info] currentZPosition:0.00924
2025-04-29 06:01:19 [debug] Stopped at height 0.008 mm
2025-04-29 06:01:19 [debug] Diagnostics for board 50:
2025-04-29 06:01:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:01:19 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:49:10 ago, cause: software
2025-04-29 06:01:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:01:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:01:19 [debug] Moves scheduled 27161, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=757, frequency (Hz): min=1175, max=15306
Sync err accum 70, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1878909332 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max
2025-04-29 06:01:19 [debug] Driver 0: pos -9599, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16349, writes 0 timeouts 0
2025-04-29 06:01:19 [debug] Last sensors broadcast 0x00000000 found 0 67 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 83, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 35832/37118
2025-04-29 06:01:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10405, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:01:19 [info] currentZPosition:0.00835
2025-04-29 06:01:21 [debug] Stopped at height 0.008 mm
2025-04-29 06:01:21 [debug] Diagnostics for board 50:
2025-04-29 06:01:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:01:21 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:49:12 ago, cause: software
2025-04-29 06:01:21 [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
2025-04-29 06:01:21 [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
2025-04-29 06:01:21 [debug] Moves scheduled 27165, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 255, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=593, frequency (Hz): min=1515, max=15625
Sync err accum 62, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1877779223 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max
2025-04-29 06:01:21 [debug] Driver 0: pos -9604, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17735, writes 0 timeouts 0
2025-04-29 06:01:21 [debug] Last sensors broadcast 0x00000000 found 0 77 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 87, 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 385, adv 36231/37129
2025-04-29 06:01:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10395, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:01:21 [info] currentZPosition:0.00785
2025-04-29 06:01:22 [debug] Stopped at height 0.008 mm
2025-04-29 06:01:22 [debug] Diagnostics for board 50:
2025-04-29 06:01:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:01:22 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.3%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:49:13 ago, cause: software
2025-04-29 06:01:22 [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
2025-04-29 06:01:22 [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
2025-04-29 06:01:22 [debug] Moves scheduled 27169, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 262, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=548, frequency (Hz): min=1334, max=15306
Sync err accum 71, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 1876742964 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:01:22 [debug] Driver 0: pos -9606, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16153, writes 0 timeouts 0
2025-04-29 06:01:22 [debug] Last sensors broadcast 0x00000000 found 0 208 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 93, 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 594, adv 36045/37125
2025-04-29 06:01:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10412, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:01:22 [info] currentZPosition:0.00765
2025-04-29 06:01:23 [debug] Stopped at height 0.008 mm
2025-04-29 06:01:23 [debug] Diagnostics for board 50:
2025-04-29 06:01:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:01:23 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:49:15 ago, cause: software
2025-04-29 06:01:23 [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
2025-04-29 06:01:23 [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
2025-04-29 06:01:23 [debug] Moves scheduled 27173, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 342, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=541, frequency (Hz): min=1383, max=15306
Sync err accum 85, peak jitter 1/3, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 1875632460 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:01:23 [debug] Driver 0: pos -9600, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17354, writes 0 timeouts 0
2025-04-29 06:01:23 [debug] Last sensors broadcast 0x00000000 found 0 186 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 90, 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 464, adv 36052/37081
2025-04-29 06:01:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10400, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:01:23 [info] currentZPosition:0.00825
2025-04-29 06:01:25 [debug] Stopped at height 0.009 mm
2025-04-29 06:01:25 [debug] Diagnostics for board 50:
2025-04-29 06:01:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:01:25 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.3%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:49:16 ago, cause: software
2025-04-29 06:01:25 [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
2025-04-29 06:01:25 [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
2025-04-29 06:01:25 [debug] Moves scheduled 27177, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=505, frequency (Hz): min=1651, max=15306
Sync err accum 92, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1874605847 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 06:01:25 [debug] Driver 0: pos -9598, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16054, writes 0 timeouts 0
2025-04-29 06:01:25 [debug] Last sensors broadcast 0x00000000 found 0 56 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 85, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 371, adv 36205/37165
2025-04-29 06:01:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10338, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:01:25 [info] currentZPosition:0.00855
2025-04-29 06:01:26 [debug] Stopped at height 0.008 mm
2025-04-29 06:01:26 [debug] Diagnostics for board 50:
2025-04-29 06:01:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:01:26 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:49:18 ago, cause: software
2025-04-29 06:01:26 [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
2025-04-29 06:01:26 [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
2025-04-29 06:01:26 [debug] Moves scheduled 27181, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=558, frequency (Hz): min=1491, max=15306
Sync err accum 99, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, disabled, CC0 mismatch!!, next step interrupt due in 1873467669 ticks, 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
2025-04-29 06:01:26 [debug] Driver 0: pos -9607, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17858, writes 0 timeouts 0
2025-04-29 06:01:26 [debug] Last sensors broadcast 0x00000000 found 0 75 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 94, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 35946/37153
2025-04-29 06:01:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10421, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:01:26 [info] currentZPosition:0.00765
2025-04-29 06:01:28 [debug] Stopped at height 0.008 mm
2025-04-29 06:01:28 [debug] Diagnostics for board 50:
2025-04-29 06:01:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:01:28 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.6%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:49:19 ago, cause: software
2025-04-29 06:01:28 [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
2025-04-29 06:01:28 [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
2025-04-29 06:01:28 [debug] Moves scheduled 27185, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=581, frequency (Hz): min=1546, max=15306
Sync err accum 100, peak jitter -2/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1872447806 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, ma
2025-04-29 06:01:28 [debug] Driver 0: pos -9600, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15853, writes 0 timeouts 0
2025-04-29 06:01:28 [debug] Last sensors broadcast 0x00000000 found 0 184 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 86, 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 428, adv 35633/37098
2025-04-29 06:01:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10392, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:01:28 [info] currentZPosition:0.00835
2025-04-29 06:01:29 [debug] Stopped at height 0.009 mm
2025-04-29 06:01:29 [debug] Diagnostics for board 50:
2025-04-29 06:01:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:01:29 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:49:20 ago, cause: software
2025-04-29 06:01:29 [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
2025-04-29 06:01:29 [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
2025-04-29 06:01:29 [debug] Moves scheduled 27189, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=548, frequency (Hz): min=1327, max=15306
Sync err accum 96, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 1871340396 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:01:29 [debug] Driver 0: pos -9594, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17344, writes 0 timeouts 0
2025-04-29 06:01:29 [debug] Last sensors broadcast 0x00000000 found 0 159 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 84, send timeouts 0, received 22, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 35707/37151
2025-04-29 06:01:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10361, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:01:29 [info] currentZPosition:0.00895
2025-04-29 06:01:30 [debug] Stopped at height 0.009 mm
2025-04-29 06:01:30 [debug] Diagnostics for board 50:
2025-04-29 06:01:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:01:30 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:49:22 ago, cause: software
2025-04-29 06:01:30 [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
2025-04-29 06:01:30 [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
2025-04-29 06:01:30 [debug] Moves scheduled 27193, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=570, frequency (Hz): min=1476, max=15306
Sync err accum 89, peak jitter -2/0, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1870298744 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:01:30 [debug] Driver 0: pos -9598, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16276, writes 0 timeouts 0
2025-04-29 06:01:30 [debug] Last sensors broadcast 0x00000000 found 0 51 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 86, 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 362, adv 35860/37140
2025-04-29 06:01:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10345, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:01:31 [info] currentZPosition:0.00855
2025-04-29 06:01:32 [debug] Stopped at height 0.009 mm
2025-04-29 06:01:32 [debug] Diagnostics for board 50:
2025-04-29 06:01:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:01:32 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:49:23 ago, cause: software
2025-04-29 06:01:32 [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
2025-04-29 06:01:32 [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
2025-04-29 06:01:32 [debug] Moves scheduled 27197, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=526, frequency (Hz): min=1509, max=15306
Sync err accum 77, peak jitter -3/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 1869176236 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:01:32 [debug] Driver 0: pos -9598, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17552, writes 0 timeouts 0
2025-04-29 06:01:32 [debug] Last sensors broadcast 0x00000000 found 0 45 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 84, 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 383, adv 36293/37150
2025-04-29 06:01:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2268
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10335, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:01:32 [info] currentZPosition:0.00855
2025-04-29 06:01:33 [debug] Stopped at height 0.008 mm
2025-04-29 06:01:33 [debug] Diagnostics for board 50:
2025-04-29 06:01:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:01:33 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:49:25 ago, cause: software
2025-04-29 06:01:33 [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
2025-04-29 06:01:33 [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
2025-04-29 06:01:33 [debug] Moves scheduled 27201, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 270, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=541, frequency (Hz): min=486, max=15306
Sync err accum 62, peak jitter -3/-2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 1868130969 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:01:33 [debug] Driver 0: pos -9605, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16220, writes 11 timeouts 1
2025-04-29 06:01:33 [debug] Last sensors broadcast 0x00000000 found 0 189 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 89, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 335, adv 36052/37166
2025-04-29 06:01:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10399, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:01:33 [info] currentZPosition:0.00785
2025-04-29 06:01:35 [debug] Stopped at height 0.008 mm
2025-04-29 06:01:35 [debug] Diagnostics for board 50:
2025-04-29 06:01:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:01:35 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:49:26 ago, cause: software
2025-04-29 06:01:35 [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
2025-04-29 06:01:35 [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
2025-04-29 06:01:35 [debug] Moves scheduled 27205, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=613, frequency (Hz): min=1346, max=15306
Sync err accum 67, peak jitter -1/3, peak Rx delay 185, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1867010380 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max
2025-04-29 06:01:35 [debug] Driver 0: pos -9605, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17557, writes 0 timeouts 0
2025-04-29 06:01:35 [debug] Last sensors broadcast 0x00000000 found 0 185 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 89, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36195/37159
2025-04-29 06:01:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10396, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:01:35 [info] currentZPosition:0.00785
2025-04-29 06:01:36 [debug] Stopped at height 0.007 mm
2025-04-29 06:01:36 [debug] Diagnostics for board 50:
2025-04-29 06:01:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:01:36 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:49:28 ago, cause: software
2025-04-29 06:01:36 [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
2025-04-29 06:01:36 [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
2025-04-29 06:01:36 [debug] Moves scheduled 27209, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 311, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=690, frequency (Hz): min=1266, max=15306
Sync err accum 79, peak jitter 1/3, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1865962013 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max 
2025-04-29 06:01:36 [debug] Driver 0: pos -9612, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16217, writes 0 timeouts 0
2025-04-29 06:01:36 [debug] Last sensors broadcast 0x00000000 found 0 83 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 97, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36243/37099
2025-04-29 06:01:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10421, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2279
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:01:36 [info] currentZPosition:0.00716
2025-04-29 06:01:38 [debug] Stopped at height 0.007 mm
2025-04-29 06:01:38 [debug] Diagnostics for board 50:
2025-04-29 06:01:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:01:38 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:49:29 ago, cause: software
2025-04-29 06:01:38 [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
2025-04-29 06:01:38 [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
2025-04-29 06:01:38 [debug] Moves scheduled 27213, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 262, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=638, frequency (Hz): min=1247, max=15306
Sync err accum 90, peak jitter 1/2, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1864827624 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 06:01:38 [debug] Driver 0: pos -9615, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17654, writes 0 timeouts 0
2025-04-29 06:01:38 [debug] Last sensors broadcast 0x00000000 found 0 94 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 104, send timeouts 0, received 22, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 35933/37080
2025-04-29 06:01:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10397, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:01:38 [info] currentZPosition:0.00686
2025-04-29 06:01:39 [debug] Stopped at height 0.008 mm
2025-04-29 06:01:39 [debug] Diagnostics for board 50:
2025-04-29 06:01:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:01:39 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,7.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:49:30 ago, cause: software
2025-04-29 06:01:39 [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
2025-04-29 06:01:39 [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
2025-04-29 06:01:39 [debug] Moves scheduled 27217, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 166, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=624, frequency (Hz): min=1311, max=15306
Sync err accum 100, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1863804059 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max
2025-04-29 06:01:39 [debug] Driver 0: pos -9607, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15836, writes 0 timeouts 0
2025-04-29 06:01:39 [debug] Last sensors broadcast 0x00000000 found 0 210 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 92, 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 387, adv 35619/37163
2025-04-29 06:01:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10402, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:01:39 [info] currentZPosition:0.00765
2025-04-29 06:01:41 [debug] Stopped at height 0.008 mm
2025-04-29 06:01:41 [debug] Diagnostics for board 50:
2025-04-29 06:01:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:01:41 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:49:32 ago, cause: software
2025-04-29 06:01:41 [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
2025-04-29 06:01:41 [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
2025-04-29 06:01:41 [debug] Moves scheduled 27221, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=622, frequency (Hz): min=689, max=15306
Sync err accum 102, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 1862697755 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:01:41 [debug] Driver 0: pos -9599, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17256, writes 11 timeouts 1
2025-04-29 06:01:41 [debug] Last sensors broadcast 0x00000000 found 0 183 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 91, 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 353, adv 35789/37169
2025-04-29 06:01:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2269
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10366, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:01:41 [info] currentZPosition:0.00845
2025-04-29 06:01:42 [debug] Stopped at height 0.009 mm
2025-04-29 06:01:42 [debug] Diagnostics for board 50:
2025-04-29 06:01:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:01:42 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.5%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:49:33 ago, cause: software
2025-04-29 06:01:42 [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
2025-04-29 06:01:42 [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
2025-04-29 06:01:42 [debug] Moves scheduled 27225, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=524, frequency (Hz): min=1588, max=15306
Sync err accum 100, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1861665859 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, ma
2025-04-29 06:01:42 [debug] Driver 0: pos -9598, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16072, writes 0 timeouts 0
2025-04-29 06:01:42 [debug] Last sensors broadcast 0x00000000 found 0 58 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 85, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 35759/37116
2025-04-29 06:01:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10378, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:01:42 [info] currentZPosition:0.00855
2025-04-29 06:01:44 [debug] Stopped at height 0.008 mm
2025-04-29 06:01:44 [debug] Diagnostics for board 50:
2025-04-29 06:01:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:01:44 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:49:35 ago, cause: software
2025-04-29 06:01:44 [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
2025-04-29 06:01:44 [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
2025-04-29 06:01:44 [debug] Moves scheduled 27229, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=573, frequency (Hz): min=1536, max=15306
Sync err accum 94, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1860532486 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max
2025-04-29 06:01:44 [debug] Driver 0: pos -9606, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17805, writes 0 timeouts 0
2025-04-29 06:01:44 [debug] Last sensors broadcast 0x00000000 found 0 73 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 90, 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 521, adv 35634/37139
2025-04-29 06:01:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10414, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:01:44 [info] currentZPosition:0.00775
2025-04-29 06:01:45 [debug] Stopped at height 0.008 mm
2025-04-29 06:01:45 [debug] Diagnostics for board 50:
2025-04-29 06:01:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:01:45 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.6%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:49:36 ago, cause: software
2025-04-29 06:01:45 [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
2025-04-29 06:01:45 [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
2025-04-29 06:01:45 [debug] Moves scheduled 27233, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=466, frequency (Hz): min=1732, max=15625
Sync err accum 86, peak jitter -2/-1, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1859498574 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, ma
2025-04-29 06:01:45 [debug] Driver 0: pos -9605, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16054, writes 0 timeouts 0
2025-04-29 06:01:45 [debug] Last sensors broadcast 0x00000000 found 0 200 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 92, 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 388, adv 35975/37167
2025-04-29 06:01:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10410, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:01:45 [info] currentZPosition:0.00785
2025-04-29 06:01:46 [debug] Stopped at height 0.008 mm
2025-04-29 06:01:46 [debug] Diagnostics for board 50:
2025-04-29 06:01:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:01:46 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:49:38 ago, cause: software
2025-04-29 06:01:46 [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
2025-04-29 06:01:46 [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
2025-04-29 06:01:46 [debug] Moves scheduled 27237, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=588, frequency (Hz): min=1456, max=15306
Sync err accum 73, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1858373199 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, ma
2025-04-29 06:01:46 [debug] Driver 0: pos -9608, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17590, writes 0 timeouts 0
2025-04-29 06:01:46 [debug] Last sensors broadcast 0x00000000 found 0 198 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 95, send timeouts 0, received 22, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36243/37101
2025-04-29 06:01:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10436, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:01:47 [info] currentZPosition:0.00755
2025-04-29 06:01:48 [debug] Stopped at height 0.008 mm
2025-04-29 06:01:48 [debug] Diagnostics for board 50:
2025-04-29 06:01:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:01:48 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.8%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:49:39 ago, cause: software
2025-04-29 06:01:48 [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
2025-04-29 06:01:48 [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
2025-04-29 06:01:48 [debug] Moves scheduled 27241, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 448, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=545, frequency (Hz): min=1585, max=15306
Sync err accum 59, peak jitter -3/-2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1857353771 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatu
2025-04-29 06:01:48 [debug] Driver 0: pos -9600, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15812, writes 0 timeouts 0
2025-04-29 06:01:48 [debug] Last sensors broadcast 0x00000000 found 0 57 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 89, 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 489, adv 36122/37106
2025-04-29 06:01:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2268
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10372, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:01:48 [info] currentZPosition:0.00835
2025-04-29 06:01:49 [debug] Stopped at height 0.007 mm
2025-04-29 06:01:49 [debug] Diagnostics for board 50:
2025-04-29 06:01:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:01:49 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:49:41 ago, cause: software
2025-04-29 06:01:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:01:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:01:49 [debug] Moves scheduled 27245, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=680, frequency (Hz): min=1293, max=15306
Sync err accum 73, peak jitter 1/3, peak Rx delay 201, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1856211096 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max 
2025-04-29 06:01:49 [debug] Driver 0: pos -9613, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17881, writes 0 timeouts 0
2025-04-29 06:01:49 [debug] Last sensors broadcast 0x00000000 found 0 83 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 104, 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 366, adv 35924/37104
2025-04-29 06:01:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2280
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10427, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:01:49 [info] currentZPosition:0.00706
2025-04-29 06:01:50 [debug] Stopped at height 0.007 mm
2025-04-29 06:01:51 [debug] Stopped at height 0.008 mm
2025-04-29 06:01:51 [debug] Diagnostics for board 50:
2025-04-29 06:01:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:01:51 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.9%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:49:42 ago, cause: software
2025-04-29 06:01:51 [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
2025-04-29 06:01:51 [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
2025-04-29 06:01:51 [debug] Moves scheduled 27251, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 557, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=706, frequency (Hz): min=1293, max=15306
Sync err accum 82, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 1854959547 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:01:51 [debug] Driver 0: pos -9603, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 19600, writes 0 timeouts 0
2025-04-29 06:01:51 [debug] Last sensors broadcast 0x00000000 found 0 1 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 96, 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 585, adv 36386/37110
2025-04-29 06:01:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10412, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:01:51 [info] currentZPosition:0.00805
2025-04-29 06:01:52 [debug] Stopped at height 0.009 mm
2025-04-29 06:01:52 [debug] Diagnostics for board 50:
2025-04-29 06:01:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:01:52 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:49:44 ago, cause: software
2025-04-29 06:01:52 [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
2025-04-29 06:01:52 [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
2025-04-29 06:01:52 [debug] Moves scheduled 27255, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=468, frequency (Hz): min=1201, max=15306
Sync err accum 84, peak jitter 0/1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 1853860701 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:01:52 [debug] Driver 0: pos -9595, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17220, writes 0 timeouts 0
2025-04-29 06:01:52 [debug] Last sensors broadcast 0x00000000 found 0 216 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 81, 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 393, adv 35872/37117
2025-04-29 06:01:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10339, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:01:53 [info] currentZPosition:0.00885
2025-04-29 06:01:54 [debug] Stopped at height 0.009 mm
2025-04-29 06:01:54 [debug] Diagnostics for board 50:
2025-04-29 06:01:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:01:54 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.5%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:49:45 ago, cause: software
2025-04-29 06:01:54 [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
2025-04-29 06:01:54 [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
2025-04-29 06:01:54 [debug] Moves scheduled 27259, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=700, frequency (Hz): min=1184, max=15306
Sync err accum 82, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 1852823515 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:01:54 [debug] Driver 0: pos -9596, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16138, writes 0 timeouts 0
2025-04-29 06:01:54 [debug] Last sensors broadcast 0x00000000 found 0 99 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 87, 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 443, adv 35764/37141
2025-04-29 06:01:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10335, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:01:54 [info] currentZPosition:0.00875
2025-04-29 06:01:55 [debug] Stopped at height 0.008 mm
2025-04-29 06:01:55 [debug] Diagnostics for board 50:
2025-04-29 06:01:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:01:55 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:49:47 ago, cause: software
2025-04-29 06:01:55 [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
2025-04-29 06:01:55 [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
2025-04-29 06:01:55 [debug] Moves scheduled 27263, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 339, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=504, frequency (Hz): min=1373, max=15306
Sync err accum 78, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1851683311 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max
2025-04-29 06:01:55 [debug] Driver 0: pos -9607, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17880, writes 0 timeouts 0
2025-04-29 06:01:55 [debug] Last sensors broadcast 0x00000000 found 0 120 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 96, 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 361, adv 35680/37146
2025-04-29 06:01:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10396, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:01:55 [info] currentZPosition:0.00765
2025-04-29 06:01:57 [debug] Stopped at height 0.009 mm
2025-04-29 06:01:57 [debug] Diagnostics for board 50:
2025-04-29 06:01:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:01:57 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:49:48 ago, cause: software
2025-04-29 06:01:57 [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
2025-04-29 06:01:57 [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
2025-04-29 06:01:57 [debug] Moves scheduled 27267, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=577, frequency (Hz): min=1512, max=15625
Sync err accum 69, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1850671650 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 06:01:57 [debug] Driver 0: pos -9595, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15701, writes 0 timeouts 0
2025-04-29 06:01:57 [debug] Last sensors broadcast 0x00000000 found 0 218 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 83, 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 371, adv 35996/37147
2025-04-29 06:01:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10334, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4707, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:01:57 [info] currentZPosition:0.00885
2025-04-29 06:01:58 [debug] Stopped at height 0.008 mm
2025-04-29 06:01:58 [debug] Diagnostics for board 50:
2025-04-29 06:01:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:01:58 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:49:49 ago, cause: software
2025-04-29 06:01:58 [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
2025-04-29 06:01:58 [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
2025-04-29 06:01:58 [debug] Moves scheduled 27271, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 240, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=646, frequency (Hz): min=733, max=15306
Sync err accum 62, peak jitter -3/1, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1849539574 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max 
2025-04-29 06:01:58 [debug] Driver 0: pos -9604, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17766, writes 11 timeouts 1
2025-04-29 06:01:58 [debug] Last sensors broadcast 0x00000000 found 0 229 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 90, send timeouts 0, received 22, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36232/37150
2025-04-29 06:01:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10426, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:01:58 [info] currentZPosition:0.00805
2025-04-29 06:02:00 [debug] Stopped at height 0.008 mm
2025-04-29 06:02:00 [debug] Diagnostics for board 50:
2025-04-29 06:02:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:02:00 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:49:51 ago, cause: software
2025-04-29 06:02:00 [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
2025-04-29 06:02:00 [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
2025-04-29 06:02:00 [debug] Moves scheduled 27275, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=506, frequency (Hz): min=1637, max=16666
Sync err accum 71, peak jitter 1/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 1848498505 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:02:00 [debug] Driver 0: pos -9606, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16116, writes 0 timeouts 0
2025-04-29 06:02:00 [debug] Last sensors broadcast 0x00000000 found 0 114 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 92, 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 396, adv 36085/37152
2025-04-29 06:02:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10427, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:02:00 [info] currentZPosition:0.00785
2025-04-29 06:02:01 [debug] Stopped at height 0.008 mm
2025-04-29 06:02:01 [debug] Diagnostics for board 50:
2025-04-29 06:02:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:02:01 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:49:52 ago, cause: software
2025-04-29 06:02:01 [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
2025-04-29 06:02:01 [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
2025-04-29 06:02:01 [debug] Moves scheduled 27279, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=722, frequency (Hz): min=1311, max=15306
Sync err accum 78, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1847388795 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:02:01 [debug] Driver 0: pos -9604, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17334, writes 0 timeouts 0
2025-04-29 06:02:01 [debug] Last sensors broadcast 0x00000000 found 0 96 ticks ago, 0 ordering errs, loop time 2
CAN messages queued 90, 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 375, adv 36104/37110
2025-04-29 06:02:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10410, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:02:01 [info] currentZPosition:0.00805
2025-04-29 06:02:02 [debug] Stopped at height 0.009 mm
2025-04-29 06:02:02 [debug] Diagnostics for board 50:
2025-04-29 06:02:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:02:02 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:49:54 ago, cause: software
2025-04-29 06:02:02 [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
2025-04-29 06:02:02 [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
2025-04-29 06:02:02 [debug] Moves scheduled 27283, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=577, frequency (Hz): min=1152, max=15306
Sync err accum 84, peak jitter 0/1, peak Rx delay 194, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1846366951 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:02:02 [debug] Driver 0: pos -9597, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15944, writes 0 timeouts 0
2025-04-29 06:02:02 [debug] Last sensors broadcast 0x00000000 found 0 212 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 82, 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 380, adv 36037/37126
2025-04-29 06:02:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10339, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:02:03 [info] currentZPosition:0.00875
2025-04-29 06:02:04 [debug] Stopped at height 0.008 mm
2025-04-29 06:02:04 [debug] Diagnostics for board 50:
2025-04-29 06:02:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:02:04 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:49:55 ago, cause: software
2025-04-29 06:02:04 [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
2025-04-29 06:02:04 [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
2025-04-29 06:02:04 [debug] Moves scheduled 27287, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=585, frequency (Hz): min=1582, max=15306
Sync err accum 81, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1845233515 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:02:04 [debug] Driver 0: pos -9604, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17771, writes 0 timeouts 0
2025-04-29 06:02:04 [debug] Last sensors broadcast 0x00000000 found 0 219 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 91, 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 378, adv 35955/37104
2025-04-29 06:02:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10397, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:02:04 [info] currentZPosition:0.00805
2025-04-29 06:02:05 [debug] Stopped at height 0.009 mm
2025-04-29 06:02:05 [debug] Diagnostics for board 50:
2025-04-29 06:02:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:02:05 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.5%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:49:57 ago, cause: software
2025-04-29 06:02:05 [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
2025-04-29 06:02:05 [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
2025-04-29 06:02:05 [debug] Moves scheduled 27291, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=620, frequency (Hz): min=697, max=15625
Sync err accum 78, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1844219978 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max 
2025-04-29 06:02:05 [debug] Driver 0: pos -9595, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15784, writes 11 timeouts 1
2025-04-29 06:02:05 [debug] Last sensors broadcast 0x00000000 found 0 70 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 84, 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 375, adv 35844/37113
2025-04-29 06:02:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2268
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10324, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4696, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:02:05 [info] currentZPosition:0.00895
2025-04-29 06:02:07 [debug] Stopped at height 0.009 mm
2025-04-29 06:02:07 [debug] Diagnostics for board 50:
2025-04-29 06:02:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:02:07 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:49:58 ago, cause: software
2025-04-29 06:02:07 [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
2025-04-29 06:02:07 [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
2025-04-29 06:02:07 [debug] Moves scheduled 27295, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 162, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=498, frequency (Hz): min=1308, max=15306
Sync err accum 64, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1843103651 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, ma
2025-04-29 06:02:07 [debug] Driver 0: pos -9597, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17565, writes 0 timeouts 0
2025-04-29 06:02:07 [debug] Last sensors broadcast 0x00000000 found 0 59 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 83, 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 364, adv 35731/37170
2025-04-29 06:02:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10387, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2267
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:02:07 [info] currentZPosition:0.00875
2025-04-29 06:02:08 [debug] Stopped at height 0.009 mm
2025-04-29 06:02:08 [debug] Diagnostics for board 50:
2025-04-29 06:02:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:02:08 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:49:59 ago, cause: software
2025-04-29 06:02:08 [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
2025-04-29 06:02:08 [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
2025-04-29 06:02:08 [debug] Moves scheduled 27299, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 160, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=594, frequency (Hz): min=1329, max=15306
Sync err accum 67, peak jitter -1/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1842065944 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max
2025-04-29 06:02:08 [debug] Driver 0: pos -9599, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16219, writes 0 timeouts 0
2025-04-29 06:02:08 [debug] Last sensors broadcast 0x00000000 found 0 193 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 85, 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 492, adv 36049/37117
2025-04-29 06:02:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10340, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:02:08 [info] currentZPosition:0.00855
2025-04-29 06:02:10 [debug] Stopped at height 0.009 mm
2025-04-29 06:02:10 [debug] Diagnostics for board 50:
2025-04-29 06:02:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:02:10 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:50:01 ago, cause: software
2025-04-29 06:02:10 [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
2025-04-29 06:02:10 [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
2025-04-29 06:02:10 [debug] Moves scheduled 27303, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 309, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=552, frequency (Hz): min=1371, max=15306
Sync err accum 85, peak jitter 2/3, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1840964136 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max 
2025-04-29 06:02:10 [debug] Driver 0: pos -9594, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17319, writes 0 timeouts 0
2025-04-29 06:02:10 [debug] Last sensors broadcast 0x00000000 found 0 162 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 86, 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 336, adv 36323/37136
2025-04-29 06:02:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10361, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:02:10 [info] currentZPosition:0.00905
2025-04-29 06:02:11 [debug] Stopped at height 0.009 mm
2025-04-29 06:02:11 [debug] Diagnostics for board 50:
2025-04-29 06:02:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:02:11 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:50:02 ago, cause: software
2025-04-29 06:02:11 [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
2025-04-29 06:02:11 [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
2025-04-29 06:02:11 [debug] Moves scheduled 27307, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=626, frequency (Hz): min=1318, max=15306
Sync err accum 100, peak jitter 1/3, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1839926547 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:02:11 [debug] Driver 0: pos -9598, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16195, writes 0 timeouts 0
2025-04-29 06:02:11 [debug] Last sensors broadcast 0x00000000 found 0 44 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 83, 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 378, adv 36204/37145
2025-04-29 06:02:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10343, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:02:11 [info] currentZPosition:0.00865
2025-04-29 06:02:12 [debug] Stopped at height 0.008 mm
2025-04-29 06:02:12 [debug] Diagnostics for board 50:
2025-04-29 06:02:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:02:12 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.2%
Owned mutexes:
Last reset 16:50:04 ago, cause: software
2025-04-29 06:02:12 [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
2025-04-29 06:02:12 [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
2025-04-29 06:02:12 [debug] Moves scheduled 27311, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=657, frequency (Hz): min=1271, max=15306
Sync err accum 107, peak jitter 0/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1838790610 ticks, 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
2025-04-29 06:02:12 [debug] Driver 0: pos -9608, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17780, writes 0 timeouts 0
2025-04-29 06:02:12 [debug] Last sensors broadcast 0x00000000 found 0 57 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 98, 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 429, adv 36151/37119
2025-04-29 06:02:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10436, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:02:13 [info] currentZPosition:0.00765
2025-04-29 06:02:14 [debug] Stopped at height 0.007 mm
2025-04-29 06:02:14 [debug] Diagnostics for board 50:
2025-04-29 06:02:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:02:14 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:50:05 ago, cause: software
2025-04-29 06:02:14 [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
2025-04-29 06:02:14 [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
2025-04-29 06:02:14 [debug] Moves scheduled 27315, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 529, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=502, frequency (Hz): min=1626, max=15306
Sync err accum 110, peak jitter -1/1, peak Rx delay 185, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1837744381 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, ma
2025-04-29 06:02:14 [debug] Driver 0: pos -9615, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16284, writes 0 timeouts 0
2025-04-29 06:02:14 [debug] Last sensors broadcast 0x00000000 found 0 207 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 102, 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 423, adv 35669/37095
2025-04-29 06:02:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10413, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:02:14 [info] currentZPosition:0.00696
2025-04-29 06:02:15 [debug] Stopped at height 0.009 mm
2025-04-29 06:02:15 [debug] Diagnostics for board 50:
2025-04-29 06:02:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:02:15 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:50:07 ago, cause: software
2025-04-29 06:02:15 [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
2025-04-29 06:02:15 [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
2025-04-29 06:02:15 [debug] Moves scheduled 27319, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=729, frequency (Hz): min=1182, max=15306
Sync err accum 110, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1836659048 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatu
2025-04-29 06:02:15 [debug] Driver 0: pos -9598, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16919, writes 0 timeouts 0
2025-04-29 06:02:15 [debug] Last sensors broadcast 0x00000000 found 0 151 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 88, 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 387, adv 35913/37156
2025-04-29 06:02:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10339, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:02:15 [info] currentZPosition:0.00865
2025-04-29 06:02:16 [debug] Stopped at height 0.007 mm
2025-04-29 06:02:17 [debug] Stopped at height 0.008 mm
2025-04-29 06:02:17 [debug] Diagnostics for board 50:
2025-04-29 06:02:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:02:17 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.7%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:50:08 ago, cause: software
2025-04-29 06:02:17 [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
2025-04-29 06:02:17 [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
2025-04-29 06:02:17 [debug] Moves scheduled 27325, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=526, frequency (Hz): min=1378, max=15306
Sync err accum 103, peak jitter -1/0, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1835375991 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, ma
2025-04-29 06:02:17 [debug] Driver 0: pos -9608, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20147, writes 0 timeouts 0
2025-04-29 06:02:17 [debug] Last sensors broadcast 0x00000000 found 0 112 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 111, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 35836/37131
2025-04-29 06:02:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10419, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:02:17 [info] currentZPosition:0.00765
2025-04-29 06:02:19 [debug] Stopped at height 0.008 mm
2025-04-29 06:02:19 [debug] Diagnostics for board 50:
2025-04-29 06:02:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:02:19 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:50:10 ago, cause: software
2025-04-29 06:02:19 [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
2025-04-29 06:02:19 [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
2025-04-29 06:02:19 [debug] Moves scheduled 27329, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=617, frequency (Hz): min=1482, max=15306
Sync err accum 92, peak jitter -2/-1, peak Rx delay 224, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1834272433 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, ma
2025-04-29 06:02:19 [debug] Driver 0: pos -9604, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17253, writes 0 timeouts 0
2025-04-29 06:02:19 [debug] Last sensors broadcast 0x00000000 found 0 84 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 91, 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 396, adv 35808/37153
2025-04-29 06:02:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10436, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4707, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:02:19 [info] currentZPosition:0.00805
2025-04-29 06:02:20 [debug] Stopped at height 0.009 mm
2025-04-29 06:02:20 [debug] Diagnostics for board 50:
2025-04-29 06:02:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:02:20 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:50:11 ago, cause: software
2025-04-29 06:02:20 [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
2025-04-29 06:02:20 [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
2025-04-29 06:02:20 [debug] Moves scheduled 27333, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 241, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=561, frequency (Hz): min=532, max=15306
Sync err accum 77, peak jitter -3/-1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 1833259265 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:02:20 [debug] Driver 0: pos -9594, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15804, writes 11 timeouts 1
2025-04-29 06:02:20 [debug] Last sensors broadcast 0x00000000 found 0 184 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 81, 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 380, adv 36026/37174
2025-04-29 06:02:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2266
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10338, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:02:20 [info] currentZPosition:0.00905
2025-04-29 06:02:21 [debug] Stopped at height 0.008 mm
2025-04-29 06:02:21 [debug] Diagnostics for board 50:
2025-04-29 06:02:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:02:21 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:50:13 ago, cause: software
2025-04-29 06:02:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:02:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:02:21 [debug] Moves scheduled 27337, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=540, frequency (Hz): min=1361, max=15306
Sync err accum 59, peak jitter -3/-2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1832123040 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, ma
2025-04-29 06:02:21 [debug] Driver 0: pos -9606, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17929, writes 0 timeouts 0
2025-04-29 06:02:21 [debug] Last sensors broadcast 0x00000000 found 0 200 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 88, 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 371, adv 35600/37110
2025-04-29 06:02:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10408, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:02:21 [info] currentZPosition:0.00785
2025-04-29 06:02:23 [debug] Stopped at height 0.009 mm
2025-04-29 06:02:23 [debug] Diagnostics for board 50:
2025-04-29 06:02:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:02:23 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:50:14 ago, cause: software
2025-04-29 06:02:23 [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
2025-04-29 06:02:23 [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
2025-04-29 06:02:23 [debug] Moves scheduled 27341, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=648, frequency (Hz): min=1247, max=15306
Sync err accum 70, peak jitter -1/4, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1831101867 ticks, 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
2025-04-29 06:02:23 [debug] Driver 0: pos -9598, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15980, writes 0 timeouts 0
2025-04-29 06:02:23 [debug] Last sensors broadcast 0x00000000 found 0 60 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 84, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36221/37093
2025-04-29 06:02:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2268
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10365, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:02:23 [info] currentZPosition:0.00865
2025-04-29 06:02:24 [debug] Stopped at height 0.008 mm
2025-04-29 06:02:24 [debug] Diagnostics for board 50:
2025-04-29 06:02:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:02:24 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:50:16 ago, cause: software
2025-04-29 06:02:24 [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
2025-04-29 06:02:24 [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
2025-04-29 06:02:24 [debug] Moves scheduled 27345, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=621, frequency (Hz): min=1394, max=15306
Sync err accum 82, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1829972220 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max 
2025-04-29 06:02:24 [debug] Driver 0: pos -9607, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17785, writes 0 timeouts 0
2025-04-29 06:02:24 [debug] Last sensors broadcast 0x00000000 found 0 69 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 92, 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 534, adv 36199/37098
2025-04-29 06:02:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10433, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:02:24 [info] currentZPosition:0.00775
2025-04-29 06:02:26 [debug] Stopped at height 0.008 mm
2025-04-29 06:02:26 [debug] Diagnostics for board 50:
2025-04-29 06:02:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:02:26 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.4%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:50:17 ago, cause: software
2025-04-29 06:02:26 [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
2025-04-29 06:02:26 [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
2025-04-29 06:02:26 [debug] Moves scheduled 27349, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=568, frequency (Hz): min=1299, max=15306
Sync err accum 93, peak jitter 1/2, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1828937688 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 06:02:26 [debug] Driver 0: pos -9609, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16135, writes 0 timeouts 0
2025-04-29 06:02:26 [debug] Last sensors broadcast 0x00000000 found 0 198 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 91, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 35632/37121
2025-04-29 06:02:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2279
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10423, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:02:26 [info] currentZPosition:0.00755
2025-04-29 06:02:27 [debug] Stopped at height 0.009 mm
2025-04-29 06:02:27 [debug] Diagnostics for board 50:
2025-04-29 06:02:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:02:27 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:50:18 ago, cause: software
2025-04-29 06:02:27 [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
2025-04-29 06:02:27 [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
2025-04-29 06:02:27 [debug] Moves scheduled 27353, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=548, frequency (Hz): min=1482, max=15306
Sync err accum 100, peak jitter 0/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1827848785 ticks, 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
2025-04-29 06:02:27 [debug] Driver 0: pos -9595, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17041, writes 0 timeouts 0
2025-04-29 06:02:27 [debug] Last sensors broadcast 0x00000000 found 0 148 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 83, 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 380, adv 35986/37110
2025-04-29 06:02:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10345, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:02:27 [info] currentZPosition:0.00895
2025-04-29 06:02:28 [debug] Stopped at height 0.008 mm
2025-04-29 06:02:29 [debug] Stopped at height 0.008 mm
2025-04-29 06:02:29 [debug] Diagnostics for board 50:
2025-04-29 06:02:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:02:29 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:50:20 ago, cause: software
2025-04-29 06:02:29 [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
2025-04-29 06:02:29 [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
2025-04-29 06:02:29 [debug] Moves scheduled 27359, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=565, frequency (Hz): min=1633, max=15306
Sync err accum 102, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1826573626 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 06:02:29 [debug] Driver 0: pos -9602, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20154, writes 0 timeouts 0
2025-04-29 06:02:29 [debug] Last sensors broadcast 0x00000000 found 0 101 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 97, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 35755/37094
2025-04-29 06:02:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10410, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:02:29 [info] currentZPosition:0.00825
2025-04-29 06:02:30 [debug] Stopped at height 0.009 mm
2025-04-29 06:02:30 [debug] Diagnostics for board 50:
2025-04-29 06:02:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:02:30 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:50:22 ago, cause: software
2025-04-29 06:02:30 [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
2025-04-29 06:02:30 [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
2025-04-29 06:02:30 [debug] Moves scheduled 27363, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=573, frequency (Hz): min=661, max=15306
Sync err accum 99, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1825479311 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:02:30 [debug] Driver 0: pos -9595, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17181, writes 11 timeouts 1
2025-04-29 06:02:30 [debug] Last sensors broadcast 0x00000000 found 0 58 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 82, 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 480, adv 35828/37120
2025-04-29 06:02:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10379, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2268
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:02:30 [info] currentZPosition:0.00905
2025-04-29 06:02:32 [debug] Stopped at height 0.009 mm
2025-04-29 06:02:32 [debug] Diagnostics for board 50:
2025-04-29 06:02:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:02:32 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:50:23 ago, cause: software
2025-04-29 06:02:32 [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
2025-04-29 06:02:32 [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
2025-04-29 06:02:32 [debug] Moves scheduled 27367, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 274, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=566, frequency (Hz): min=1546, max=15306
Sync err accum 93, peak jitter -1/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 1824442308 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 06:02:32 [debug] Driver 0: pos -9600, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16156, writes 0 timeouts 0
2025-04-29 06:02:32 [debug] Last sensors broadcast 0x00000000 found 0 189 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 86, 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 403, adv 35984/37092
2025-04-29 06:02:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10392, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:02:32 [info] currentZPosition:0.00865
2025-04-29 06:02:33 [debug] Stopped at height 0.009 mm
2025-04-29 06:02:33 [debug] Diagnostics for board 50:
2025-04-29 06:02:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:02:33 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:50:24 ago, cause: software
2025-04-29 06:02:33 [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
2025-04-29 06:02:33 [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
2025-04-29 06:02:33 [debug] Moves scheduled 27371, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=553, frequency (Hz): min=1423, max=15306
Sync err accum 84, peak jitter -3/0, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1823342824 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max
2025-04-29 06:02:33 [debug] Driver 0: pos -9593, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17313, writes 0 timeouts 0
2025-04-29 06:02:33 [debug] Last sensors broadcast 0x00000000 found 0 160 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 83, 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 379, adv 35639/37101
2025-04-29 06:02:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10311, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:02:33 [info] currentZPosition:0.00934
2025-04-29 06:02:35 [debug] Stopped at height 0.007 mm
2025-04-29 06:02:35 [debug] Diagnostics for board 50:
2025-04-29 06:02:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:02:35 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:50:26 ago, cause: software
2025-04-29 06:02:35 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:02:35 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:02:35 [debug] Moves scheduled 27375, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=517, frequency (Hz): min=1293, max=15306
Sync err accum 71, peak jitter -3/-1, peak Rx delay 202, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1822271978 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatu
2025-04-29 06:02:35 [debug] Driver 0: pos -9612, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16689, writes 0 timeouts 0
2025-04-29 06:02:35 [debug] Last sensors broadcast 0x00000000 found 0 84 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 99, 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 408, adv 36206/37101
2025-04-29 06:02:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10430, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:02:35 [info] currentZPosition:0.00746
2025-04-29 06:02:35 [debug] Stopped at height 0.007 mm
2025-04-29 06:02:36 [debug] Stopped at height 0.009 mm
2025-04-29 06:02:36 [debug] Diagnostics for board 50:
2025-04-29 06:02:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:02:36 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:50:28 ago, cause: software
2025-04-29 06:02:36 [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
2025-04-29 06:02:36 [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
2025-04-29 06:02:36 [debug] Moves scheduled 27381, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=5, max=717, frequency (Hz): min=1322, max=15306
Sync err accum 58, peak jitter -3/0, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1820947775 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max
2025-04-29 06:02:36 [debug] Driver 0: pos -9599, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20958, writes 0 timeouts 0
2025-04-29 06:02:36 [debug] Last sensors broadcast 0x00000000 found 0 105 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 93, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 398, adv 36194/37106
2025-04-29 06:02:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10350, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:02:36 [info] currentZPosition:0.00875
2025-04-29 06:02:37 [debug] Stopped at height 0.007 mm
2025-04-29 06:02:38 [debug] Stopped at height 0.009 mm
2025-04-29 06:02:38 [debug] Diagnostics for board 50:
2025-04-29 06:02:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:02:38 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:50:29 ago, cause: software
2025-04-29 06:02:38 [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
2025-04-29 06:02:38 [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
2025-04-29 06:02:38 [debug] Moves scheduled 27387, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 166, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=629, frequency (Hz): min=1485, max=15625
Sync err accum 77, peak jitter 1/4, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1819676485 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 06:02:38 [debug] Driver 0: pos -9600, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 19923, writes 0 timeouts 0
2025-04-29 06:02:38 [debug] Last sensors broadcast 0x00000000 found 0 46 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 111, 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 426, adv 36273/37128
2025-04-29 06:02:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10391, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:02:38 [info] currentZPosition:0.00885
2025-04-29 06:02:38 [debug] Stopped at height 0.008 mm
2025-04-29 06:02:40 [debug] Stopped at height 0.009 mm
2025-04-29 06:02:40 [debug] Diagnostics for board 50:
2025-04-29 06:02:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:02:40 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.2%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:50:31 ago, cause: software
2025-04-29 06:02:40 [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
2025-04-29 06:02:40 [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
2025-04-29 06:02:40 [debug] Moves scheduled 27393, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 379, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=652, frequency (Hz): min=1404, max=15306
Sync err accum 90, peak jitter 1/2, peak Rx delay 186, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 1818325499 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:02:40 [debug] Driver 0: pos -9602, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 21325, writes 0 timeouts 0
2025-04-29 06:02:40 [debug] Last sensors broadcast 0x00000000 found 0 96 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 98, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36063/37114
2025-04-29 06:02:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10385, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:02:40 [info] currentZPosition:0.00865
2025-04-29 06:02:41 [debug] Stopped at height 0.009 mm
2025-04-29 06:02:41 [debug] Diagnostics for board 50:
2025-04-29 06:02:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:02:41 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:50:32 ago, cause: software
2025-04-29 06:02:41 [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
2025-04-29 06:02:41 [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
2025-04-29 06:02:41 [debug] Moves scheduled 27397, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 329, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=692, frequency (Hz): min=1368, max=15306
Sync err accum 96, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1817296326 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max 
2025-04-29 06:02:41 [debug] Driver 0: pos -9601, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16002, writes 11 timeouts 1
2025-04-29 06:02:41 [debug] Last sensors broadcast 0x00000000 found 0 215 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 87, 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 363, adv 35767/37126
2025-04-29 06:02:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10407, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:02:41 [info] currentZPosition:0.00875
2025-04-29 06:02:43 [debug] Stopped at height 0.008 mm
2025-04-29 06:02:43 [debug] Diagnostics for board 50:
2025-04-29 06:02:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:02:43 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:50:34 ago, cause: software
2025-04-29 06:02:43 [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
2025-04-29 06:02:43 [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
2025-04-29 06:02:43 [debug] Moves scheduled 27401, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 263, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=669, frequency (Hz): min=610, max=15306
Sync err accum 100, peak jitter 0/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 1816174740 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:02:43 [debug] Driver 0: pos -9607, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17646, writes 0 timeouts 0
2025-04-29 06:02:43 [debug] Last sensors broadcast 0x00000000 found 0 216 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 91, 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 360, adv 35910/37106
2025-04-29 06:02:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10404, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:02:43 [info] currentZPosition:0.00815
2025-04-29 06:02:44 [debug] Stopped at height 0.008 mm
2025-04-29 06:02:44 [debug] Diagnostics for board 50:
2025-04-29 06:02:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:02:44 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.4%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:50:35 ago, cause: software
2025-04-29 06:02:44 [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
2025-04-29 06:02:44 [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
2025-04-29 06:02:44 [debug] Moves scheduled 27405, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 182, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=564, frequency (Hz): min=825, max=15625
Sync err accum 98, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1815149789 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max 
2025-04-29 06:02:44 [debug] Driver 0: pos -9604, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15893, writes 11 timeouts 1
2025-04-29 06:02:44 [debug] Last sensors broadcast 0x00000000 found 0 81 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 90, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 35885/37104
2025-04-29 06:02:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10395, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:02:44 [info] currentZPosition:0.00845
2025-04-29 06:02:46 [debug] Stopped at height 0.008 mm
2025-04-29 06:02:46 [debug] Diagnostics for board 50:
2025-04-29 06:02:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:02:46 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:50:37 ago, cause: software
2025-04-29 06:02:46 [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
2025-04-29 06:02:46 [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
2025-04-29 06:02:46 [debug] Moves scheduled 27409, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=648, frequency (Hz): min=1252, max=15306
Sync err accum 94, peak jitter -1/0, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1814029414 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max
2025-04-29 06:02:46 [debug] Driver 0: pos -9607, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17500, writes 0 timeouts 0
2025-04-29 06:02:46 [debug] Last sensors broadcast 0x00000000 found 0 74 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 95, 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 386, adv 35682/37120
2025-04-29 06:02:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10385, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:02:46 [info] currentZPosition:0.00815
2025-04-29 06:02:47 [debug] Stopped at height 0.009 mm
2025-04-29 06:02:47 [debug] Diagnostics for board 50:
2025-04-29 06:02:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:02:47 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:50:38 ago, cause: software
2025-04-29 06:02:47 [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
2025-04-29 06:02:47 [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
2025-04-29 06:02:47 [debug] Moves scheduled 27413, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=558, frequency (Hz): min=1588, max=15306
Sync err accum 84, peak jitter -2/-1, peak Rx delay 191, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 1813001100 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 06:02:47 [debug] Driver 0: pos -9604, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15991, writes 0 timeouts 0
2025-04-29 06:02:47 [debug] Last sensors broadcast 0x00000000 found 0 197 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 88, 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 371, adv 36095/37118
2025-04-29 06:02:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10402, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:02:47 [info] currentZPosition:0.00855
2025-04-29 06:02:48 [debug] Stopped at height 0.009 mm
2025-04-29 06:02:48 [debug] Diagnostics for board 50:
2025-04-29 06:02:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:02:48 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:50:40 ago, cause: software
2025-04-29 06:02:48 [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
2025-04-29 06:02:48 [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
2025-04-29 06:02:48 [debug] Moves scheduled 27417, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 160, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=509, frequency (Hz): min=1641, max=15306
Sync err accum 68, peak jitter -3/-2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 1811889089 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 06:02:48 [debug] Driver 0: pos -9603, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17443, writes 0 timeouts 0
2025-04-29 06:02:48 [debug] Last sensors broadcast 0x00000000 found 0 180 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 90, 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 523, adv 36303/37081
2025-04-29 06:02:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10389, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:02:48 [info] currentZPosition:0.00865
2025-04-29 06:02:50 [debug] Stopped at height 0.009 mm
2025-04-29 06:02:50 [debug] Diagnostics for board 50:
2025-04-29 06:02:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:02:50 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.3%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:50:41 ago, cause: software
2025-04-29 06:02:50 [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
2025-04-29 06:02:50 [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
2025-04-29 06:02:50 [debug] Moves scheduled 27421, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=649, frequency (Hz): min=1450, max=15000
Sync err accum 58, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1810866821 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, ma
2025-04-29 06:02:50 [debug] Driver 0: pos -9596, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15939, writes 0 timeouts 0
2025-04-29 06:02:50 [debug] Last sensors broadcast 0x00000000 found 0 41 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 86, 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 419, adv 36260/37108
2025-04-29 06:02:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10365, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2268
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:02:50 [info] currentZPosition:0.00934
2025-04-29 06:02:51 [debug] Stopped at height 0.009 mm
2025-04-29 06:02:51 [debug] Diagnostics for board 50:
2025-04-29 06:02:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:02:51 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:50:43 ago, cause: software
2025-04-29 06:02:51 [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
2025-04-29 06:02:51 [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
2025-04-29 06:02:51 [debug] Moves scheduled 27425, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=542, frequency (Hz): min=1494, max=15306
Sync err accum 74, peak jitter 1/4, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1809750090 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max 
2025-04-29 06:02:51 [debug] Driver 0: pos -9602, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17617, writes 0 timeouts 0
2025-04-29 06:02:51 [debug] Last sensors broadcast 0x00000000 found 0 33 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 90, 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 372, adv 36120/37159
2025-04-29 06:02:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10400, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:02:51 [info] currentZPosition:0.00875
2025-04-29 06:02:53 [debug] Stopped at height 0.009 mm
2025-04-29 06:02:53 [debug] Diagnostics for board 50:
2025-04-29 06:02:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:02:53 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:50:44 ago, cause: software
2025-04-29 06:02:53 [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
2025-04-29 06:02:53 [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
2025-04-29 06:02:53 [debug] Moves scheduled 27429, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=542, frequency (Hz): min=1233, max=15306
Sync err accum 82, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 1808727099 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:02:53 [debug] Driver 0: pos -9597, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16000, writes 0 timeouts 0
2025-04-29 06:02:53 [debug] Last sensors broadcast 0x00000000 found 0 143 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 82, 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 385, adv 35704/37105
2025-04-29 06:02:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10383, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:02:53 [info] currentZPosition:0.00924
2025-04-29 06:02:54 [debug] Stopped at height 0.009 mm
2025-04-29 06:02:54 [debug] Diagnostics for board 50:
2025-04-29 06:02:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:02:54 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:50:45 ago, cause: software
2025-04-29 06:02:54 [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
2025-04-29 06:02:54 [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
2025-04-29 06:02:54 [debug] Moves scheduled 27433, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=590, frequency (Hz): min=1136, max=15306
Sync err accum 87, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1807619557 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 06:02:54 [debug] Driver 0: pos -9595, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17460, writes 0 timeouts 0
2025-04-29 06:02:54 [debug] Last sensors broadcast 0x00000000 found 0 120 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 83, 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 364, adv 35950/37119
2025-04-29 06:02:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10338, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:02:54 [info] currentZPosition:0.00944
2025-04-29 06:02:55 [debug] Stopped at height 0.009 mm
2025-04-29 06:02:55 [debug] Diagnostics for board 50:
2025-04-29 06:02:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:02:55 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:50:47 ago, cause: software
2025-04-29 06:02:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:02:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:02:55 [debug] Moves scheduled 27437, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 266, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=722, frequency (Hz): min=1304, max=15306
Sync err accum 88, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 1806581034 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:02:55 [debug] Driver 0: pos -9601, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16257, writes 0 timeouts 0
2025-04-29 06:02:55 [debug] Last sensors broadcast 0x00000000 found 0 7 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 92, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 365, adv 35840/37134
2025-04-29 06:02:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10392, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:02:56 [info] currentZPosition:0.00885
2025-04-29 06:02:57 [debug] Stopped at height 0.008 mm
2025-04-29 06:02:57 [debug] Diagnostics for board 50:
2025-04-29 06:02:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:02:57 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:50:48 ago, cause: software
2025-04-29 06:02:57 [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
2025-04-29 06:02:57 [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
2025-04-29 06:02:57 [debug] Moves scheduled 27441, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=621, frequency (Hz): min=1399, max=15306
Sync err accum 86, peak jitter -1/1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1805459176 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:02:57 [debug] Driver 0: pos -9609, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17562, writes 0 timeouts 0
2025-04-29 06:02:57 [debug] Last sensors broadcast 0x00000000 found 0 2 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 93, 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 369, adv 35750/37153
2025-04-29 06:02:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10429, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2279
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:02:57 [info] currentZPosition:0.00805
2025-04-29 06:02:58 [debug] Stopped at height 0.009 mm
2025-04-29 06:02:58 [debug] Diagnostics for board 50:
2025-04-29 06:02:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:02:58 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:50:50 ago, cause: software
2025-04-29 06:02:58 [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
2025-04-29 06:02:58 [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
2025-04-29 06:02:58 [debug] Moves scheduled 27445, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=506, frequency (Hz): min=1476, max=15306
Sync err accum 78, peak jitter -2/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 1 ticks, disabled, CC0 mismatch!!, next step interrupt due in 1804442011 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatu
2025-04-29 06:02:58 [debug] Driver 0: pos -9598, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15774, writes 0 timeouts 0
2025-04-29 06:02:58 [debug] Last sensors broadcast 0x00000000 found 0 107 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 86, 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 378, adv 36256/37126
2025-04-29 06:02:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10359, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:02:58 [info] currentZPosition:0.00914
2025-04-29 06:03:00 [debug] Stopped at height 0.008 mm
2025-04-29 06:03:00 [debug] Diagnostics for board 50:
2025-04-29 06:03:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:03:00 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:50:51 ago, cause: software
2025-04-29 06:03:00 [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
2025-04-29 06:03:00 [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
2025-04-29 06:03:00 [debug] Moves scheduled 27449, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=592, frequency (Hz): min=1518, max=15306
Sync err accum 66, peak jitter -3/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1803320082 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:03:00 [debug] Driver 0: pos -9606, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17622, writes 0 timeouts 0
2025-04-29 06:03:00 [debug] Last sensors broadcast 0x00000000 found 0 104 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 90, 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 368, adv 36328/37150
2025-04-29 06:03:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10428, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:03:00 [info] currentZPosition:0.00845
2025-04-29 06:03:01 [debug] Stopped at height 0.009 mm
2025-04-29 06:03:01 [debug] Diagnostics for board 50:
2025-04-29 06:03:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:03:01 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:50:52 ago, cause: software
2025-04-29 06:03:01 [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
2025-04-29 06:03:01 [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
2025-04-29 06:03:01 [debug] Moves scheduled 27453, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 355, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=736, frequency (Hz): min=1262, max=15306
Sync err accum 62, peak jitter -2/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1802297616 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max
2025-04-29 06:03:01 [debug] Driver 0: pos -9601, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15959, writes 0 timeouts 0
2025-04-29 06:03:01 [debug] Last sensors broadcast 0x00000000 found 0 219 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 85, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36044/37155
2025-04-29 06:03:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10400, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:03:01 [info] currentZPosition:0.00895
2025-04-29 06:03:03 [debug] Stopped at height 0.008 mm
2025-04-29 06:03:03 [debug] Diagnostics for board 50:
2025-04-29 06:03:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:03:03 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:50:54 ago, cause: software
2025-04-29 06:03:03 [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
2025-04-29 06:03:03 [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
2025-04-29 06:03:03 [debug] Moves scheduled 27457, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=524, frequency (Hz): min=1356, max=15306
Sync err accum 78, peak jitter 2/3, peak Rx delay 216, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1801177395 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:03:03 [debug] Driver 0: pos -9607, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17496, writes 0 timeouts 0
2025-04-29 06:03:03 [debug] Last sensors broadcast 0x00000000 found 0 210 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 96, 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 363, adv 36139/37119
2025-04-29 06:03:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10393, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:03:03 [info] currentZPosition:0.00845
2025-04-29 06:03:04 [debug] Stopped at height 0.008 mm
2025-04-29 06:03:04 [debug] Diagnostics for board 50:
2025-04-29 06:03:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:03:04 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:50:55 ago, cause: software
2025-04-29 06:03:04 [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
2025-04-29 06:03:04 [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
2025-04-29 06:03:04 [debug] Moves scheduled 27461, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=498, frequency (Hz): min=1716, max=15306
Sync err accum 90, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1800138972 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max 
2025-04-29 06:03:04 [debug] Driver 0: pos -9608, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16201, writes 0 timeouts 0
2025-04-29 06:03:04 [debug] Last sensors broadcast 0x00000000 found 0 94 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 87, 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 421, adv 36202/37086
2025-04-29 06:03:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10445, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:03:04 [info] currentZPosition:0.00835
2025-04-29 06:03:05 [debug] Stopped at height 0.009 mm
2025-04-29 06:03:05 [debug] Diagnostics for board 50:
2025-04-29 06:03:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:03:05 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:50:57 ago, cause: software
2025-04-29 06:03:05 [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
2025-04-29 06:03:05 [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
2025-04-29 06:03:05 [debug] Moves scheduled 27465, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 444, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=520, frequency (Hz): min=1626, max=15306
Sync err accum 101, peak jitter 1/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 1799047269 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:03:05 [debug] Driver 0: pos -9599, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17061, writes 0 timeouts 0
2025-04-29 06:03:05 [debug] Last sensors broadcast 0x00000000 found 0 51 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 88, 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 402, adv 36012/37090
2025-04-29 06:03:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10384, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:03:06 [info] currentZPosition:0.00924
2025-04-29 06:03:07 [debug] Stopped at height 0.008 mm
2025-04-29 06:03:07 [debug] Diagnostics for board 50:
2025-04-29 06:03:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:03:07 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.5%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:50:58 ago, cause: software
2025-04-29 06:03:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:03:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:03:07 [debug] Moves scheduled 27469, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 164, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=485, frequency (Hz): min=1659, max=15625
Sync err accum 105, peak jitter 0/1, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1797986140 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max
2025-04-29 06:03:07 [debug] Driver 0: pos -9612, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16540, writes 0 timeouts 0
2025-04-29 06:03:07 [debug] Last sensors broadcast 0x00000000 found 0 217 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 93, 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 379, adv 36021/37153
2025-04-29 06:03:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10419, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:03:07 [info] currentZPosition:0.00795
2025-04-29 06:03:07 [debug] Stopped at height 0.008 mm
2025-04-29 06:03:09 [debug] Stopped at height 0.010 mm
2025-04-29 06:03:09 [debug] Diagnostics for board 50:
2025-04-29 06:03:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:03:09 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:51:00 ago, cause: software
2025-04-29 06:03:09 [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
2025-04-29 06:03:09 [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
2025-04-29 06:03:09 [debug] Moves scheduled 27475, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=534, frequency (Hz): min=1431, max=15625
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 1796682188 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 06:03:09 [debug] Driver 0: pos -9590, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20553, writes 0 timeouts 0
2025-04-29 06:03:09 [debug] Last sensors broadcast 0x00000000 found 0 203 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 95, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 35792/37167
2025-04-29 06:03:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2269
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10345, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:03:09 [info] currentZPosition:0.0101
2025-04-29 06:03:09 [debug] Stopped at height 0.008 mm
2025-04-29 06:03:10 [debug] Stopped at height 0.008 mm
2025-04-29 06:03:10 [debug] Diagnostics for board 50:
2025-04-29 06:03:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:03:10 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:51:02 ago, cause: software
2025-04-29 06:03:10 [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
2025-04-29 06:03:10 [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
2025-04-29 06:03:10 [debug] Moves scheduled 27481, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=537, frequency (Hz): min=1235, max=15306
Sync err accum 97, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1795369743 ticks, 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
2025-04-29 06:03:10 [debug] Driver 0: pos -9614, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20644, writes 0 timeouts 0
2025-04-29 06:03:10 [debug] Last sensors broadcast 0x00000000 found 0 204 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 118, 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 374, adv 35784/37170
2025-04-29 06:03:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10428, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2281
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:03:11 [info] currentZPosition:0.00775
2025-04-29 06:03:12 [debug] Stopped at height 0.008 mm
2025-04-29 06:03:12 [debug] Diagnostics for board 50:
2025-04-29 06:03:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:03:12 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:51:03 ago, cause: software
2025-04-29 06:03:12 [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
2025-04-29 06:03:12 [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
2025-04-29 06:03:12 [debug] Moves scheduled 27485, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 310, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=728, frequency (Hz): min=1129, max=15000
Sync err accum 88, peak jitter -2/0, peak Rx delay 185, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1794269922 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max
2025-04-29 06:03:12 [debug] Driver 0: pos -9610, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17171, writes 0 timeouts 0
2025-04-29 06:03:12 [debug] Last sensors broadcast 0x00000000 found 0 169 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 85, 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 386, adv 35293/37107
2025-04-29 06:03:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10425, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2280
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:03:12 [info] currentZPosition:0.00815
2025-04-29 06:03:13 [debug] Stopped at height 0.009 mm
2025-04-29 06:03:13 [debug] Diagnostics for board 50:
2025-04-29 06:03:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:03:13 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:51:05 ago, cause: software
2025-04-29 06:03:13 [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
2025-04-29 06:03:13 [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
2025-04-29 06:03:13 [debug] Moves scheduled 27489, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=593, frequency (Hz): min=1341, max=15306
Sync err accum 74, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 1793245134 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 06:03:13 [debug] Driver 0: pos -9605, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16041, writes 0 timeouts 0
2025-04-29 06:03:13 [debug] Last sensors broadcast 0x00000000 found 0 37 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 82, send timeouts 0, received 22, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 35875/37123
2025-04-29 06:03:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10405, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:03:13 [info] currentZPosition:0.00875
2025-04-29 06:03:15 [debug] Stopped at height 0.008 mm
2025-04-29 06:03:15 [debug] Diagnostics for board 50:
2025-04-29 06:03:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:03:15 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:51:06 ago, cause: software
2025-04-29 06:03:15 [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
2025-04-29 06:03:15 [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
2025-04-29 06:03:15 [debug] Moves scheduled 27493, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=810, frequency (Hz): min=1102, max=15306
Sync err accum 60, peak jitter -3/0, peak Rx delay 189, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1792132152 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max
2025-04-29 06:03:15 [debug] Driver 0: pos -9608, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17405, writes 0 timeouts 0
2025-04-29 06:03:15 [debug] Last sensors broadcast 0x00000000 found 0 20 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 95, send timeouts 0, received 22, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36228/37108
2025-04-29 06:03:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10449, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:03:15 [info] currentZPosition:0.00845
2025-04-29 06:03:16 [debug] Stopped at height 0.009 mm
2025-04-29 06:03:16 [debug] Diagnostics for board 50:
2025-04-29 06:03:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:03:16 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:51:07 ago, cause: software
2025-04-29 06:03:16 [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
2025-04-29 06:03:16 [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
2025-04-29 06:03:16 [debug] Moves scheduled 27497, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=793, frequency (Hz): min=1002, max=15625
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 1791099613 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:03:16 [debug] Driver 0: pos -9607, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16078, writes 0 timeouts 0
2025-04-29 06:03:16 [debug] Last sensors broadcast 0x00000000 found 0 148 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 85, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36036/37093
2025-04-29 06:03:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10392, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:03:16 [info] currentZPosition:0.00855
2025-04-29 06:03:18 [debug] Stopped at height 0.009 mm
2025-04-29 06:03:18 [debug] Diagnostics for board 50:
2025-04-29 06:03:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:03:18 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:51:09 ago, cause: software
2025-04-29 06:03:18 [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
2025-04-29 06:03:18 [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
2025-04-29 06:03:18 [debug] Moves scheduled 27501, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=721, frequency (Hz): min=1196, max=15625
Sync err accum 79, peak jitter 1/2, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1789992959 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max 
2025-04-29 06:03:18 [debug] Driver 0: pos -9606, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17283, writes 0 timeouts 0
2025-04-29 06:03:18 [debug] Last sensors broadcast 0x00000000 found 0 124 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 92, 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 377, adv 36014/37105
2025-04-29 06:03:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10411, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:03:18 [info] currentZPosition:0.00865
2025-04-29 06:03:19 [debug] Stopped at height 0.009 mm
2025-04-29 06:03:19 [debug] Diagnostics for board 50:
2025-04-29 06:03:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:03:19 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.4%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:51:10 ago, cause: software
2025-04-29 06:03:19 [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
2025-04-29 06:03:19 [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
2025-04-29 06:03:19 [debug] Moves scheduled 27505, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 383, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=808, frequency (Hz): min=1136, max=28846
Sync err accum 86, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1788968124 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:03:19 [debug] Driver 0: pos -9601, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15989, writes 0 timeouts 0
2025-04-29 06:03:19 [debug] Last sensors broadcast 0x00000000 found 0 237 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 85, 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 388, adv 36272/37104
2025-04-29 06:03:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10413, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:03:19 [info] currentZPosition:0.00914
2025-04-29 06:03:20 [debug] Stopped at height 0.009 mm
2025-04-29 06:03:20 [debug] Diagnostics for board 50:
2025-04-29 06:03:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:03:20 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:51:12 ago, cause: software
2025-04-29 06:03:20 [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
2025-04-29 06:03:20 [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
2025-04-29 06:03:20 [debug] Moves scheduled 27509, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=610, frequency (Hz): min=1177, max=15306
Sync err accum 88, peak jitter 0/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 1 ticks, disabled, next step interrupt due in 1787859520 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:03:20 [debug] Driver 0: pos -9601, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17408, writes 0 timeouts 0
2025-04-29 06:03:20 [debug] Last sensors broadcast 0x00000000 found 0 218 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 88, 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 398, adv 35867/37090
2025-04-29 06:03:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10363, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:03:21 [info] currentZPosition:0.00914
2025-04-29 06:03:22 [debug] Stopped at height 0.009 mm
2025-04-29 06:03:22 [debug] Diagnostics for board 50:
2025-04-29 06:03:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:03:22 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:51:13 ago, cause: software
2025-04-29 06:03:22 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:03:22 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:03:22 [debug] Moves scheduled 27513, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=554, frequency (Hz): min=617, max=15306
Sync err accum 84, peak jitter -2/0, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1786819675 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 06:03:22 [debug] Driver 0: pos -9605, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16173, writes 11 timeouts 1
2025-04-29 06:03:22 [debug] Last sensors broadcast 0x00000000 found 0 106 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 90, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 398, adv 35630/37130
2025-04-29 06:03:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10410, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:03:22 [info] currentZPosition:0.00875
2025-04-29 06:03:23 [debug] Stopped at height 0.009 mm
2025-04-29 06:03:23 [debug] Diagnostics for board 50:
2025-04-29 06:03:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:03:23 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:51:15 ago, cause: software
2025-04-29 06:03:23 [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
2025-04-29 06:03:23 [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
2025-04-29 06:03:23 [debug] Moves scheduled 27517, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=713, frequency (Hz): min=1252, max=15306
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 1785721059 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 06:03:23 [debug] Driver 0: pos -9601, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17243, writes 0 timeouts 0
2025-04-29 06:03:23 [debug] Last sensors broadcast 0x00000000 found 0 69 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 89, 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 403, adv 35719/37113
2025-04-29 06:03:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10376, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:03:23 [info] currentZPosition:0.00914
2025-04-29 06:03:25 [debug] Stopped at height 0.009 mm
2025-04-29 06:03:25 [debug] Diagnostics for board 50:
2025-04-29 06:03:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:03:25 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:51:16 ago, cause: software
2025-04-29 06:03:25 [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
2025-04-29 06:03:25 [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
2025-04-29 06:03:25 [debug] Moves scheduled 27521, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=496, frequency (Hz): min=1693, max=15306
Sync err accum 62, peak jitter -2/-1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1784677676 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, ma
2025-04-29 06:03:25 [debug] Driver 0: pos -9606, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16310, writes 0 timeouts 0
2025-04-29 06:03:25 [debug] Last sensors broadcast 0x00000000 found 0 209 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 92, 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 373, adv 35808/37148
2025-04-29 06:03:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10424, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:03:25 [info] currentZPosition:0.00865
2025-04-29 06:03:26 [debug] Stopped at height 0.010 mm
2025-04-29 06:03:26 [debug] Diagnostics for board 50:
2025-04-29 06:03:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:03:26 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:51:17 ago, cause: software
2025-04-29 06:03:26 [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
2025-04-29 06:03:26 [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
2025-04-29 06:03:26 [debug] Moves scheduled 27525, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=625, frequency (Hz): min=1171, max=15306
Sync err accum 67, peak jitter -1/3, peak Rx delay 171, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1783599672 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max
2025-04-29 06:03:26 [debug] Driver 0: pos -9591, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16962, writes 0 timeouts 0
2025-04-29 06:03:26 [debug] Last sensors broadcast 0x00000000 found 0 147 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 82, 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 373, adv 36262/37101
2025-04-29 06:03:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10361, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:03:26 [info] currentZPosition:0.0101
2025-04-29 06:03:27 [debug] Stopped at height 0.008 mm
2025-04-29 06:03:28 [debug] Stopped at height 0.010 mm
2025-04-29 06:03:28 [debug] Diagnostics for board 50:
2025-04-29 06:03:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:03:28 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:51:19 ago, cause: software
2025-04-29 06:03:28 [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
2025-04-29 06:03:28 [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
2025-04-29 06:03:28 [debug] Moves scheduled 27531, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 306, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=558, frequency (Hz): min=1320, max=15306
Sync err accum 80, peak jitter 1/2, peak Rx delay 234, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 1782330580 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:03:28 [debug] Driver 0: pos -9594, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20010, writes 0 timeouts 0
2025-04-29 06:03:28 [debug] Last sensors broadcast 0x00000000 found 0 89 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 107, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 36028/37149
2025-04-29 06:03:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2267
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10322, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:03:28 [info] currentZPosition:0.00984
2025-04-29 06:03:28 [debug] Stopped at height 0.009 mm
2025-04-29 06:03:30 [debug] Stopped at height 0.010 mm
2025-04-29 06:03:30 [debug] Diagnostics for board 50:
2025-04-29 06:03:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:03:30 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:51:21 ago, cause: software
2025-04-29 06:03:30 [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
2025-04-29 06:03:30 [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
2025-04-29 06:03:30 [debug] Moves scheduled 27537, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=636, frequency (Hz): min=1353, max=15306
Sync err accum 87, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1780996530 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max 
2025-04-29 06:03:30 [debug] Driver 0: pos -9593, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 21158, writes 0 timeouts 0
2025-04-29 06:03:30 [debug] Last sensors broadcast 0x00000000 found 0 117 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 98, 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 475, adv 35994/37168
2025-04-29 06:03:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10360, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2267
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:03:30 [info] currentZPosition:0.00994
2025-04-29 06:03:30 [debug] Stopped at height 0.009 mm
2025-04-29 06:03:31 [debug] Stopped at height 0.010 mm
2025-04-29 06:03:31 [debug] Diagnostics for board 50:
2025-04-29 06:03:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:03:31 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:51:23 ago, cause: software
2025-04-29 06:03:31 [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
2025-04-29 06:03:31 [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
2025-04-29 06:03:31 [debug] Moves scheduled 27543, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 345, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=453, frequency (Hz): min=1456, max=15306
Sync err accum 88, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1779724868 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max
2025-04-29 06:03:31 [debug] Driver 0: pos -9598, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20095, writes 0 timeouts 0
2025-04-29 06:03:31 [debug] Last sensors broadcast 0x00000000 found 0 64 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 98, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 36147/37129
2025-04-29 06:03:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10351, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4707, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:03:31 [info] currentZPosition:0.00954
2025-04-29 06:03:33 [debug] Stopped at height 0.010 mm
2025-04-29 06:03:33 [debug] Diagnostics for board 50:
2025-04-29 06:03:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:03:33 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:51:24 ago, cause: software
2025-04-29 06:03:33 [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
2025-04-29 06:03:33 [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
2025-04-29 06:03:33 [debug] Moves scheduled 27547, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=753, frequency (Hz): min=1116, max=15625
Sync err accum 81, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1778619762 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max
2025-04-29 06:03:33 [debug] Driver 0: pos -9596, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17322, writes 0 timeouts 0
2025-04-29 06:03:33 [debug] Last sensors broadcast 0x00000000 found 0 38 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 83, 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 375, adv 35907/37095
2025-04-29 06:03:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2269
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10344, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:03:33 [info] currentZPosition:0.00974
2025-04-29 06:03:34 [debug] Stopped at height 0.010 mm
2025-04-29 06:03:34 [debug] Diagnostics for board 50:
2025-04-29 06:03:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:03:34 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:51:25 ago, cause: software
2025-04-29 06:03:34 [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
2025-04-29 06:03:34 [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
2025-04-29 06:03:34 [debug] Moves scheduled 27551, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=669, frequency (Hz): min=1368, max=15306
Sync err accum 73, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 1777593488 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:03:34 [debug] Driver 0: pos -9593, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16109, writes 0 timeouts 0
2025-04-29 06:03:34 [debug] Last sensors broadcast 0x00000000 found 0 155 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 80, 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 377, adv 36306/37101
2025-04-29 06:03:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10317, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:03:34 [info] currentZPosition:0.0100
2025-04-29 06:03:36 [debug] Stopped at height 0.009 mm
2025-04-29 06:03:36 [debug] Diagnostics for board 50:
2025-04-29 06:03:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:03:36 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:51:27 ago, cause: software
2025-04-29 06:03:36 [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
2025-04-29 06:03:36 [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
2025-04-29 06:03:36 [debug] Moves scheduled 27555, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=686, frequency (Hz): min=1293, max=15306
Sync err accum 61, peak jitter -2/-1, peak Rx delay 225, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 1776480635 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 06:03:36 [debug] Driver 0: pos -9599, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17478, writes 0 timeouts 0
2025-04-29 06:03:36 [debug] Last sensors broadcast 0x00000000 found 0 139 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 85, 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 381, adv 35714/37115
2025-04-29 06:03:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10386, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:03:36 [info] currentZPosition:0.00944
2025-04-29 06:03:37 [debug] Stopped at height 0.009 mm
2025-04-29 06:03:37 [debug] Diagnostics for board 50:
2025-04-29 06:03:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:03:37 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:51:28 ago, cause: software
2025-04-29 06:03:37 [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
2025-04-29 06:03:37 [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
2025-04-29 06:03:37 [debug] Moves scheduled 27559, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=573, frequency (Hz): min=1264, max=15306
Sync err accum 73, peak jitter -1/3, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1775428509 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:03:37 [debug] Driver 0: pos -9606, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16463, writes 0 timeouts 0
2025-04-29 06:03:37 [debug] Last sensors broadcast 0x00000000 found 0 43 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 92, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 35730/37171
2025-04-29 06:03:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10435, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:03:37 [info] currentZPosition:0.00875
2025-04-29 06:03:38 [debug] Stopped at height 0.009 mm
2025-04-29 06:03:38 [debug] Diagnostics for board 50:
2025-04-29 06:03:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:03:38 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:51:30 ago, cause: software
2025-04-29 06:03:38 [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
2025-04-29 06:03:38 [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
2025-04-29 06:03:38 [debug] Moves scheduled 27563, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=692, frequency (Hz): min=522, max=15306
Sync err accum 86, peak jitter 1/3, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1774333825 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 3
2025-04-29 06:03:38 [debug] Driver 0: pos -9602, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17143, writes 11 timeouts 1
2025-04-29 06:03:38 [debug] Last sensors broadcast 0x00000000 found 0 3 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 89, 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 385, adv 36272/37143
2025-04-29 06:03:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10363, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:03:39 [info] currentZPosition:0.00914
2025-04-29 06:03:40 [debug] Stopped at height 0.009 mm
2025-04-29 06:03:40 [debug] Diagnostics for board 50:
2025-04-29 06:03:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:03:40 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.3%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:51:31 ago, cause: software
2025-04-29 06:03:40 [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
2025-04-29 06:03:40 [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
2025-04-29 06:03:40 [debug] Moves scheduled 27567, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=628, frequency (Hz): min=1485, max=15306
Sync err accum 94, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1773295700 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 06:03:40 [debug] Driver 0: pos -9604, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16190, writes 0 timeouts 0
2025-04-29 06:03:40 [debug] Last sensors broadcast 0x00000000 found 0 138 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 89, 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 372, adv 35851/37104
2025-04-29 06:03:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10419, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:03:40 [info] currentZPosition:0.00895
2025-04-29 06:03:41 [debug] Stopped at height 0.009 mm
2025-04-29 06:03:41 [debug] Diagnostics for board 50:
2025-04-29 06:03:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:03:41 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:51:33 ago, cause: software
2025-04-29 06:03:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:03:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:03:41 [debug] Moves scheduled 27571, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 410, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=548, frequency (Hz): min=513, max=15306
Sync err accum 98, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 1772192437 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, curr
2025-04-29 06:03:41 [debug] Driver 0: pos -9604, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17244, writes 11 timeouts 1
2025-04-29 06:03:41 [debug] Last sensors broadcast 0x00000000 found 0 109 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 89, 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 381, adv 36110/37079
2025-04-29 06:03:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10390, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:03:41 [info] currentZPosition:0.00905
2025-04-29 06:03:43 [debug] Stopped at height 0.010 mm
2025-04-29 06:03:43 [debug] Diagnostics for board 50:
2025-04-29 06:03:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:03:43 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.2%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:51:34 ago, cause: software
2025-04-29 06:03:43 [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
2025-04-29 06:03:43 [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
2025-04-29 06:03:43 [debug] Moves scheduled 27575, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 242, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=637, frequency (Hz): min=1453, max=15306
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 1771165337 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:03:43 [debug] Driver 0: pos -9598, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16030, writes 0 timeouts 0
2025-04-29 06:03:43 [debug] Last sensors broadcast 0x00000000 found 0 227 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 86, 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 484, adv 36022/37116
2025-04-29 06:03:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10335, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:03:43 [info] currentZPosition:0.00964
2025-04-29 06:03:44 [debug] Stopped at height 0.009 mm
2025-04-29 06:03:44 [debug] Diagnostics for board 50:
2025-04-29 06:03:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:03:44 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:51:35 ago, cause: software
2025-04-29 06:03:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:03:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:03:44 [debug] Moves scheduled 27579, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 265, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=530, frequency (Hz): min=1485, max=15306
Sync err accum 93, peak jitter -1/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 4294967244 ticks, disabled, next step interrupt due in 1770057293 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min
2025-04-29 06:03:44 [debug] Driver 0: pos -9600, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17413, writes 0 timeouts 0
2025-04-29 06:03:44 [debug] Last sensors broadcast 0x00000000 found 0 205 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 86, 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 422, adv 35929/37142
2025-04-29 06:03:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10389, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:03:44 [info] currentZPosition:0.00944
2025-04-29 06:03:46 [debug] Stopped at height 0.008 mm
2025-04-29 06:03:46 [debug] Diagnostics for board 50:
2025-04-29 06:03:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:03:46 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:51:37 ago, cause: software
2025-04-29 06:03:46 [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
2025-04-29 06:03:46 [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
2025-04-29 06:03:46 [debug] Moves scheduled 27583, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 162, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=480, frequency (Hz): min=1708, max=15306
Sync err accum 85, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1768991681 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, ma
2025-04-29 06:03:46 [debug] Driver 0: pos -9617, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16694, writes 0 timeouts 0
2025-04-29 06:03:46 [debug] Last sensors broadcast 0x00000000 found 0 128 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 101, 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 360, adv 36213/37123
2025-04-29 06:03:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10457, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4708, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:03:46 [info] currentZPosition:0.00775
2025-04-29 06:03:46 [debug] Stopped at height 0.008 mm
2025-04-29 06:03:47 [debug] Stopped at height 0.009 mm
2025-04-29 06:03:47 [debug] Diagnostics for board 50:
2025-04-29 06:03:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:03:47 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:51:39 ago, cause: software
2025-04-29 06:03:47 [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
2025-04-29 06:03:47 [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
2025-04-29 06:03:47 [debug] Moves scheduled 27589, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=668, frequency (Hz): min=597, max=15625
Sync err accum 73, peak jitter -2/-1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1767683001 ticks, 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
2025-04-29 06:03:47 [debug] Driver 0: pos -9601, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20589, writes 11 timeouts 1
2025-04-29 06:03:47 [debug] Last sensors broadcast 0x00000000 found 0 120 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 98, 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 486, adv 35857/37127
2025-04-29 06:03:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10408, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:03:47 [info] currentZPosition:0.00934
2025-04-29 06:03:48 [debug] Stopped at height 0.008 mm
2025-04-29 06:03:49 [debug] Stopped at height 0.009 mm
2025-04-29 06:03:49 [debug] Diagnostics for board 50:
2025-04-29 06:03:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:03:49 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.7%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:51:40 ago, cause: software
2025-04-29 06:03:49 [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
2025-04-29 06:03:49 [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
2025-04-29 06:03:49 [debug] Moves scheduled 27595, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=682, frequency (Hz): min=651, max=15306
Sync err accum 60, peak jitter -3/0, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1766401470 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 06:03:49 [debug] Driver 0: pos -9608, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20124, writes 11 timeouts 1
2025-04-29 06:03:49 [debug] Last sensors broadcast 0x00000000 found 0 78 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 106, 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 458, adv 36314/37113
2025-04-29 06:03:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10419, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:03:49 [info] currentZPosition:0.00865
2025-04-29 06:03:50 [debug] Stopped at height 0.009 mm
2025-04-29 06:03:50 [debug] Diagnostics for board 50:
2025-04-29 06:03:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:03:50 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:51:42 ago, cause: software
2025-04-29 06:03:50 [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
2025-04-29 06:03:50 [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
2025-04-29 06:03:50 [debug] Moves scheduled 27599, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=632, frequency (Hz): min=1488, max=15306
Sync err accum 76, 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 1765308506 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 06:03:50 [debug] Driver 0: pos -9603, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17134, writes 0 timeouts 0
2025-04-29 06:03:50 [debug] Last sensors broadcast 0x00000000 found 0 36 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 86, 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 400, adv 35563/37125
2025-04-29 06:03:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2269
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10392, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:03:51 [info] currentZPosition:0.00914
2025-04-29 06:03:52 [debug] Stopped at height 0.010 mm
2025-04-29 06:03:52 [debug] Diagnostics for board 50:
2025-04-29 06:03:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:03:52 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:51:43 ago, cause: software
2025-04-29 06:03:52 [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
2025-04-29 06:03:52 [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
2025-04-29 06:03:52 [debug] Moves scheduled 27603, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=677, frequency (Hz): min=1297, max=15306
Sync err accum 89, peak jitter 2/3, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1764290001 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max 
2025-04-29 06:03:52 [debug] Driver 0: pos -9598, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15941, writes 0 timeouts 0
2025-04-29 06:03:52 [debug] Last sensors broadcast 0x00000000 found 0 144 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 80, 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 375, adv 35727/37098
2025-04-29 06:03:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2268
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10361, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:03:52 [info] currentZPosition:0.00964
2025-04-29 06:03:53 [debug] Stopped at height 0.009 mm
2025-04-29 06:03:53 [debug] Diagnostics for board 50:
2025-04-29 06:03:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:03:53 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:51:45 ago, cause: software
2025-04-29 06:03:53 [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
2025-04-29 06:03:53 [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
2025-04-29 06:03:53 [debug] Moves scheduled 27607, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=488, frequency (Hz): min=1744, max=15306
Sync err accum 105, peak jitter 2/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 1763174594 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:03:53 [debug] Driver 0: pos -9604, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17512, writes 0 timeouts 0
2025-04-29 06:03:53 [debug] Last sensors broadcast 0x00000000 found 0 129 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 87, 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 369, adv 36191/37161
2025-04-29 06:03:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10413, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:03:53 [info] currentZPosition:0.00905
2025-04-29 06:03:55 [debug] Stopped at height 0.009 mm
2025-04-29 06:03:55 [debug] Diagnostics for board 50:
2025-04-29 06:03:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:03:55 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.2%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:51:46 ago, cause: software
2025-04-29 06:03:55 [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
2025-04-29 06:03:55 [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
2025-04-29 06:03:55 [debug] Moves scheduled 27611, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=448, frequency (Hz): min=1807, max=15306
Sync err accum 111, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1762147897 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:03:55 [debug] Driver 0: pos -9603, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16068, writes 0 timeouts 0
2025-04-29 06:03:55 [debug] Last sensors broadcast 0x00000000 found 0 2 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 91, 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 356, adv 35650/37119
2025-04-29 06:03:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10400, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:03:55 [info] currentZPosition:0.00914
2025-04-29 06:03:56 [debug] Stopped at height 0.009 mm
2025-04-29 06:03:56 [debug] Diagnostics for board 50:
2025-04-29 06:03:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:03:56 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:51:47 ago, cause: software
2025-04-29 06:03:56 [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
2025-04-29 06:03:56 [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
2025-04-29 06:03:56 [debug] Moves scheduled 27615, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=640, frequency (Hz): min=1368, max=15625
Sync err accum 117, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 1761050972 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:03:56 [debug] Driver 0: pos -9602, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17219, writes 0 timeouts 0
2025-04-29 06:03:56 [debug] Last sensors broadcast 0x00000000 found 0 212 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 80, send timeouts 0, received 22, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36015/37116
2025-04-29 06:03:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10385, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:03:56 [info] currentZPosition:0.00924
2025-04-29 06:03:58 [debug] Stopped at height 0.008 mm
2025-04-29 06:03:58 [debug] Diagnostics for board 50:
2025-04-29 06:03:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:03:58 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:51:49 ago, cause: software
2025-04-29 06:03:58 [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
2025-04-29 06:03:58 [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
2025-04-29 06:03:58 [debug] Moves scheduled 27619, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=645, frequency (Hz): min=1293, max=15625
Sync err accum 117, peak jitter -2/1, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1759994760 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, ma
2025-04-29 06:03:58 [debug] Driver 0: pos -9615, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16538, writes 0 timeouts 0
2025-04-29 06:03:58 [debug] Last sensors broadcast 0x00000000 found 0 122 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 87, 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 406, adv 36344/37074
2025-04-29 06:03:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10413, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:03:58 [info] currentZPosition:0.00795
2025-04-29 06:03:58 [debug] Stopped at height 0.008 mm
2025-04-29 06:03:59 [debug] Stopped at height 0.009 mm
2025-04-29 06:03:59 [debug] Diagnostics for board 50:
2025-04-29 06:03:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:03:59 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.9%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:51:51 ago, cause: software
2025-04-29 06:03:59 [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
2025-04-29 06:03:59 [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
2025-04-29 06:03:59 [debug] Moves scheduled 27625, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=492, frequency (Hz): min=1459, max=15306
Sync err accum 111, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1758673793 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, ma
2025-04-29 06:03:59 [debug] Driver 0: pos -9608, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20960, writes 0 timeouts 0
2025-04-29 06:03:59 [debug] Last sensors broadcast 0x00000000 found 0 135 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 102, 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 482, adv 35901/37072
2025-04-29 06:03:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10433, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:03:59 [info] currentZPosition:0.00865
2025-04-29 06:04:01 [debug] Stopped at height 0.009 mm
2025-04-29 06:04:01 [debug] Diagnostics for board 50:
2025-04-29 06:04:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:04:01 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:51:52 ago, cause: software
2025-04-29 06:04:01 [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
2025-04-29 06:04:01 [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
2025-04-29 06:04:01 [debug] Moves scheduled 27629, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=521, frequency (Hz): min=1223, max=15306
Sync err accum 101, peak jitter -2/-1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1757638590 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, m
2025-04-29 06:04:01 [debug] Driver 0: pos -9610, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16138, writes 0 timeouts 0
2025-04-29 06:04:01 [debug] Last sensors broadcast 0x00000000 found 0 12 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 89, 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 379, adv 35685/37117
2025-04-29 06:04:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10411, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:04:01 [info] currentZPosition:0.00855
2025-04-29 06:04:02 [debug] Stopped at height 0.010 mm
2025-04-29 06:04:02 [debug] Diagnostics for board 50:
2025-04-29 06:04:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:04:02 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:51:53 ago, cause: software
2025-04-29 06:04:02 [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
2025-04-29 06:04:02 [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
2025-04-29 06:04:02 [debug] Moves scheduled 27633, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 159, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=686, frequency (Hz): min=1223, max=15306
Sync err accum 89, peak jitter -3/-1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 1756555078 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 06:04:02 [debug] Driver 0: pos -9599, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16900, writes 0 timeouts 0
2025-04-29 06:04:02 [debug] Last sensors broadcast 0x00000000 found 0 208 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 83, 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 366, adv 35687/37119
2025-04-29 06:04:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10397, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:04:02 [info] currentZPosition:0.00974
2025-04-29 06:04:04 [debug] Stopped at height 0.010 mm
2025-04-29 06:04:04 [debug] Diagnostics for board 50:
2025-04-29 06:04:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:04:04 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.2%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:51:55 ago, cause: software
2025-04-29 06:04:04 [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
2025-04-29 06:04:04 [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
2025-04-29 06:04:04 [debug] Moves scheduled 27637, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=838, frequency (Hz): min=1138, max=15306
Sync err accum 72, peak jitter -3/-2, peak Rx delay 205, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1755536392 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatu
2025-04-29 06:04:04 [debug] Driver 0: pos -9593, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15935, writes 0 timeouts 0
2025-04-29 06:04:04 [debug] Last sensors broadcast 0x00000000 found 0 65 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 83, 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 373, adv 35907/37115
2025-04-29 06:04:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2269
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10347, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:04:04 [info] currentZPosition:0.0104
2025-04-29 06:04:05 [debug] Stopped at height 0.009 mm
2025-04-29 06:04:05 [debug] Diagnostics for board 50:
2025-04-29 06:04:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:04:05 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:51:56 ago, cause: software
2025-04-29 06:04:05 [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
2025-04-29 06:04:05 [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
2025-04-29 06:04:05 [debug] Moves scheduled 27641, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=836, frequency (Hz): min=1060, max=15625
Sync err accum 65, peak jitter -4/2, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1754398525 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max
2025-04-29 06:04:05 [debug] Driver 0: pos -9612, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17882, writes 0 timeouts 0
2025-04-29 06:04:05 [debug] Last sensors broadcast 0x00000000 found 0 83 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 96, 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 376, adv 36269/37123
2025-04-29 06:04:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10404, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:04:05 [info] currentZPosition:0.00855
2025-04-29 06:04:05 [debug] Stopped at height 0.008 mm
2025-04-29 06:04:07 [debug] Stopped at height 0.009 mm
2025-04-29 06:04:07 [debug] Diagnostics for board 50:
2025-04-29 06:04:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:04:07 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.8%
Owned mutexes:
Last reset 16:51:58 ago, cause: software
2025-04-29 06:04:07 [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
2025-04-29 06:04:07 [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
2025-04-29 06:04:07 [debug] Moves scheduled 27647, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 354, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=445, frequency (Hz): min=1559, max=15306
Sync err accum 74, peak jitter 0/2, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 1753139057 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:04:07 [debug] Driver 0: pos -9603, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 19842, writes 0 timeouts 0
2025-04-29 06:04:07 [debug] Last sensors broadcast 0x00000000 found 0 12 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 103, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 35976/37103
2025-04-29 06:04:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10414, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:04:07 [info] currentZPosition:0.00944
2025-04-29 06:04:07 [debug] Stopped at height 0.009 mm
2025-04-29 06:04:08 [debug] Stopped at height 0.010 mm
2025-04-29 06:04:08 [debug] Diagnostics for board 50:
2025-04-29 06:04:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:04:08 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:52:00 ago, cause: software
2025-04-29 06:04:08 [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
2025-04-29 06:04:08 [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
2025-04-29 06:04:08 [debug] Moves scheduled 27653, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 322, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=452, frequency (Hz): min=1527, max=15306
Sync err accum 79, peak jitter -1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 1751807201 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:04:08 [debug] Driver 0: pos -9603, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 21125, writes 0 timeouts 0
2025-04-29 06:04:08 [debug] Last sensors broadcast 0x00000000 found 0 36 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 98, 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 419, adv 36114/37130
2025-04-29 06:04:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10374, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:04:09 [info] currentZPosition:0.00954
2025-04-29 06:04:10 [debug] Stopped at height 0.009 mm
2025-04-29 06:04:10 [debug] Diagnostics for board 50:
2025-04-29 06:04:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:04:10 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:52:01 ago, cause: software
2025-04-29 06:04:10 [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
2025-04-29 06:04:10 [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
2025-04-29 06:04:10 [debug] Moves scheduled 27657, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 167, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=493, frequency (Hz): min=1712, max=15306
Sync err accum 79, peak jitter 0/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 1750771374 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:04:10 [debug] Driver 0: pos -9604, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16226, writes 0 timeouts 0
2025-04-29 06:04:10 [debug] Last sensors broadcast 0x00000000 found 0 169 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 87, send timeouts 0, received 22, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36211/37111
2025-04-29 06:04:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10393, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:04:10 [info] currentZPosition:0.00944
2025-04-29 06:04:11 [debug] Stopped at height 0.008 mm
2025-04-29 06:04:11 [debug] Diagnostics for board 50:
2025-04-29 06:04:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:04:11 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:52:03 ago, cause: software
2025-04-29 06:04:11 [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
2025-04-29 06:04:11 [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
2025-04-29 06:04:11 [debug] Moves scheduled 27661, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 269, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=697, frequency (Hz): min=531, max=15306
Sync err accum 72, peak jitter -2/0, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1749644018 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 06:04:11 [debug] Driver 0: pos -9617, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17600, writes 11 timeouts 1
2025-04-29 06:04:11 [debug] Last sensors broadcast 0x00000000 found 0 170 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 102, 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 365, adv 35921/37108
2025-04-29 06:04:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10462, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:04:11 [info] currentZPosition:0.00815
2025-04-29 06:04:12 [debug] Stopped at height 0.006 mm
2025-04-29 06:04:12 [debug] Stopped at height 0.005 mm
2025-04-29 06:04:13 [debug] Stopped at height 0.008 mm
2025-04-29 06:04:13 [debug] Diagnostics for board 50:
2025-04-29 06:04:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:04:13 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.4%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:52:05 ago, cause: software
2025-04-29 06:04:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:04:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:04:13 [debug] Moves scheduled 27669, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=580, frequency (Hz): min=1521, max=21428
Sync err accum 62, peak jitter -2/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 1748118963 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:04:13 [debug] Driver 0: pos -9614, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 23798, writes 0 timeouts 0
2025-04-29 06:04:13 [debug] Last sensors broadcast 0x00000000 found 0 206 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 146, send timeouts 0, received 35, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 871, adv 35670/37121
2025-04-29 06:04:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10408, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:04:14 [info] currentZPosition:0.00845
2025-04-29 06:04:14 [debug] Stopped at height 0.006 mm
2025-04-29 06:04:15 [debug] Stopped at height 0.010 mm
2025-04-29 06:04:15 [debug] Diagnostics for board 50:
2025-04-29 06:04:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:04:15 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.0%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:52:06 ago, cause: software
2025-04-29 06:04:15 [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
2025-04-29 06:04:15 [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
2025-04-29 06:04:15 [debug] Moves scheduled 27675, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=428, frequency (Hz): min=1704, max=15306
Sync err accum 71, peak jitter -1/2, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1746805431 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max
2025-04-29 06:04:15 [debug] Driver 0: pos -9603, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20597, writes 0 timeouts 0
2025-04-29 06:04:15 [debug] Last sensors broadcast 0x00000000 found 0 205 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 118, 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 369, adv 35724/37115
2025-04-29 06:04:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10384, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:04:15 [info] currentZPosition:0.00954
2025-04-29 06:04:16 [debug] Stopped at height 0.008 mm
2025-04-29 06:04:17 [debug] Stopped at height 0.010 mm
2025-04-29 06:04:17 [debug] Diagnostics for board 50:
2025-04-29 06:04:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:04:17 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:52:08 ago, cause: software
2025-04-29 06:04:17 [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
2025-04-29 06:04:17 [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
2025-04-29 06:04:17 [debug] Moves scheduled 27681, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=518, frequency (Hz): min=1533, max=15306
Sync err accum 74, peak jitter 0/1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1745538754 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:04:17 [debug] Driver 0: pos -9600, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 19950, writes 0 timeouts 0
2025-04-29 06:04:17 [debug] Last sensors broadcast 0x00000000 found 0 145 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 100, 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 357, adv 35791/37133
2025-04-29 06:04:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10415, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:04:17 [info] currentZPosition:0.00984
2025-04-29 06:04:18 [debug] Stopped at height 0.009 mm
2025-04-29 06:04:18 [debug] Diagnostics for board 50:
2025-04-29 06:04:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:04:18 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.1%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:52:10 ago, cause: software
2025-04-29 06:04:18 [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
2025-04-29 06:04:18 [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
2025-04-29 06:04:18 [debug] Moves scheduled 27685, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=540, frequency (Hz): min=1575, max=15625
Sync err accum 70, peak jitter -1/0, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1744424569 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max
2025-04-29 06:04:18 [debug] Driver 0: pos -9607, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17450, writes 0 timeouts 0
2025-04-29 06:04:18 [debug] Last sensors broadcast 0x00000000 found 0 131 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 93, send timeouts 0, received 22, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36308/37077
2025-04-29 06:04:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10387, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:04:18 [info] currentZPosition:0.00914
2025-04-29 06:04:20 [debug] Stopped at height 0.010 mm
2025-04-29 06:04:20 [debug] Diagnostics for board 50:
2025-04-29 06:04:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:04:20 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.1%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:52:11 ago, cause: software
2025-04-29 06:04:20 [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
2025-04-29 06:04:20 [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
2025-04-29 06:04:20 [debug] Moves scheduled 27689, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 275, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=522, frequency (Hz): min=732, max=15306
Sync err accum 63, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1743407630 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max
2025-04-29 06:04:20 [debug] Driver 0: pos -9600, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15868, writes 11 timeouts 1
2025-04-29 06:04:20 [debug] Last sensors broadcast 0x00000000 found 0 237 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 85, 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 390, adv 35879/37115
2025-04-29 06:04:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10374, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4707, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:04:20 [info] currentZPosition:0.00984
2025-04-29 06:04:21 [debug] Stopped at height 0.010 mm
2025-04-29 06:04:21 [debug] Diagnostics for board 50:
2025-04-29 06:04:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:04:21 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:52:12 ago, cause: software
2025-04-29 06:04:21 [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
2025-04-29 06:04:21 [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
2025-04-29 06:04:21 [debug] Moves scheduled 27693, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=558, frequency (Hz): min=1588, max=15306
Sync err accum 65, peak jitter -1/1, peak Rx delay 199, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1742315758 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max
2025-04-29 06:04:21 [debug] Driver 0: pos -9597, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17205, writes 0 timeouts 0
2025-04-29 06:04:21 [debug] Last sensors broadcast 0x00000000 found 0 193 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 84, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36121/37159
2025-04-29 06:04:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2268
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10366, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:04:21 [info] currentZPosition:0.0101
2025-04-29 06:04:23 [debug] Stopped at height 0.009 mm
2025-04-29 06:04:23 [debug] Diagnostics for board 50:
2025-04-29 06:04:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:04:23 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:52:14 ago, cause: software
2025-04-29 06:04:23 [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
2025-04-29 06:04:23 [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
2025-04-29 06:04:23 [debug] Moves scheduled 27697, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=584, frequency (Hz): min=1217, max=15306
Sync err accum 64, peak jitter -1/0, peak Rx delay 186, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1741259773 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max
2025-04-29 06:04:23 [debug] Driver 0: pos -9611, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16499, writes 0 timeouts 0
2025-04-29 06:04:23 [debug] Last sensors broadcast 0x00000000 found 0 101 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 94, 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 389, adv 36039/37130
2025-04-29 06:04:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10406, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4707, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:04:23 [info] currentZPosition:0.00875
2025-04-29 06:04:23 [debug] Stopped at height 0.008 mm
2025-04-29 06:04:24 [debug] Stopped at height 0.009 mm
2025-04-29 06:04:24 [debug] Diagnostics for board 50:
2025-04-29 06:04:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:04:24 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:52:16 ago, cause: software
2025-04-29 06:04:24 [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
2025-04-29 06:04:24 [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
2025-04-29 06:04:24 [debug] Moves scheduled 27703, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=5, max=654, frequency (Hz): min=1363, max=15625
Sync err accum 70, peak jitter -1/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1739934736 ticks, 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
2025-04-29 06:04:24 [debug] Driver 0: pos -9605, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20935, writes 0 timeouts 0
2025-04-29 06:04:24 [debug] Last sensors broadcast 0x00000000 found 0 120 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 103, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 373, adv 36000/37137
2025-04-29 06:04:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10409, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:04:24 [info] currentZPosition:0.00944
2025-04-29 06:04:26 [debug] Stopped at height 0.011 mm
2025-04-29 06:04:26 [debug] Diagnostics for board 50:
2025-04-29 06:04:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:04:26 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:52:17 ago, cause: software
2025-04-29 06:04:26 [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
2025-04-29 06:04:26 [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
2025-04-29 06:04:26 [debug] Moves scheduled 27707, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=517, frequency (Hz): min=1552, max=15625
Sync err accum 80, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1738924524 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 06:04:26 [debug] Driver 0: pos -9594, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15768, writes 0 timeouts 0
2025-04-29 06:04:26 [debug] Last sensors broadcast 0x00000000 found 0 213 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 82, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36242/37121
2025-04-29 06:04:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10354, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2268
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:04:26 [info] currentZPosition:0.0105
2025-04-29 06:04:27 [debug] Stopped at height 0.010 mm
2025-04-29 06:04:27 [debug] Diagnostics for board 50:
2025-04-29 06:04:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:04:27 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:52:18 ago, cause: software
2025-04-29 06:04:27 [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
2025-04-29 06:04:27 [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
2025-04-29 06:04:27 [debug] Moves scheduled 27711, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=546, frequency (Hz): min=1524, max=15306
Sync err accum 88, peak jitter 1/2, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1737826132 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 06:04:27 [debug] Driver 0: pos -9595, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17388, writes 0 timeouts 0
2025-04-29 06:04:27 [debug] Last sensors broadcast 0x00000000 found 0 178 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 82, 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 387, adv 35779/37150
2025-04-29 06:04:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10342, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:04:27 [info] currentZPosition:0.0104
2025-04-29 06:04:29 [debug] Stopped at height 0.010 mm
2025-04-29 06:04:29 [debug] Diagnostics for board 50:
2025-04-29 06:04:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:04:29 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:52:20 ago, cause: software
2025-04-29 06:04:29 [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
2025-04-29 06:04:29 [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
2025-04-29 06:04:29 [debug] Moves scheduled 27715, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=541, frequency (Hz): min=1320, max=15306
Sync err accum 91, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 1736787129 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:04:29 [debug] Driver 0: pos -9601, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16354, writes 0 timeouts 0
2025-04-29 06:04:29 [debug] Last sensors broadcast 0x00000000 found 0 65 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 86, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 359, adv 35649/37104
2025-04-29 06:04:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10399, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:04:29 [info] currentZPosition:0.00984
2025-04-29 06:04:30 [debug] Stopped at height 0.010 mm
2025-04-29 06:04:30 [debug] Diagnostics for board 50:
2025-04-29 06:04:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:04:30 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:52:21 ago, cause: software
2025-04-29 06:04:30 [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
2025-04-29 06:04:30 [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
2025-04-29 06:04:30 [debug] Moves scheduled 27719, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=573, frequency (Hz): min=1464, max=15306
Sync err accum 89, peak jitter -1/0, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1735685914 ticks, 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
2025-04-29 06:04:30 [debug] Driver 0: pos -9604, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17402, writes 0 timeouts 0
2025-04-29 06:04:30 [debug] Last sensors broadcast 0x00000000 found 0 33 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 88, 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 383, adv 35611/37075
2025-04-29 06:04:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10390, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:04:30 [info] currentZPosition:0.00964
2025-04-29 06:04:31 [debug] Stopped at height 0.008 mm
2025-04-29 06:04:31 [debug] Diagnostics for board 50:
2025-04-29 06:04:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:04:31 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:52:23 ago, cause: software
2025-04-29 06:04:31 [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
2025-04-29 06:04:31 [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
2025-04-29 06:04:31 [debug] Moves scheduled 27723, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=576, frequency (Hz): min=1358, max=15306
Sync err accum 83, peak jitter -2/1, peak Rx delay 216, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 1734615873 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:04:31 [debug] Driver 0: pos -9622, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16642, writes 0 timeouts 0
2025-04-29 06:04:31 [debug] Last sensors broadcast 0x00000000 found 0 210 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 101, 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 378, adv 35730/37168
2025-04-29 06:04:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10456, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2280
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:04:32 [info] currentZPosition:0.00785
2025-04-29 06:04:32 [debug] Stopped at height 0.007 mm
2025-04-29 06:04:33 [debug] Stopped at height 0.010 mm
2025-04-29 06:04:33 [debug] Diagnostics for board 50:
2025-04-29 06:04:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:04:33 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.8%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:52:24 ago, cause: software
2025-04-29 06:04:33 [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
2025-04-29 06:04:33 [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
2025-04-29 06:04:33 [debug] Moves scheduled 27729, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 1045, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=521, frequency (Hz): min=1533, max=15306
Sync err accum 72, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 1733304424 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, 
2025-04-29 06:04:33 [debug] Driver 0: pos -9605, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20610, writes 0 timeouts 0
2025-04-29 06:04:33 [debug] Last sensors broadcast 0x00000000 found 0 209 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 108, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36249/37110
2025-04-29 06:04:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10432, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:04:33 [info] currentZPosition:0.00954
2025-04-29 06:04:34 [debug] Stopped at height 0.008 mm
2025-04-29 06:04:35 [debug] Stopped at height 0.009 mm
2025-04-29 06:04:35 [debug] Diagnostics for board 50:
2025-04-29 06:04:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:04:35 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.7%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:52:26 ago, cause: software
2025-04-29 06:04:35 [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
2025-04-29 06:04:35 [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
2025-04-29 06:04:35 [debug] Moves scheduled 27735, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=530, frequency (Hz): min=1585, max=15306
Sync err accum 61, peak jitter -3/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1732031132 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max
2025-04-29 06:04:35 [debug] Driver 0: pos -9608, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20063, writes 0 timeouts 0
2025-04-29 06:04:35 [debug] Last sensors broadcast 0x00000000 found 0 158 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 119, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 394, adv 35876/37140
2025-04-29 06:04:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10400, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:04:35 [info] currentZPosition:0.00924
2025-04-29 06:04:35 [debug] Stopped at height 0.008 mm
2025-04-29 06:04:37 [debug] Stopped at height 0.010 mm
2025-04-29 06:04:37 [debug] Diagnostics for board 50:
2025-04-29 06:04:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:04:37 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:52:28 ago, cause: software
2025-04-29 06:04:37 [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
2025-04-29 06:04:37 [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
2025-04-29 06:04:37 [debug] Moves scheduled 27741, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=513, frequency (Hz): min=606, max=15306
Sync err accum 79, peak jitter 2/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1730713862 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 3
2025-04-29 06:04:37 [debug] Driver 0: pos -9599, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20773, writes 11 timeouts 1
2025-04-29 06:04:37 [debug] Last sensors broadcast 0x00000000 found 0 162 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 101, 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 440, adv 36091/37123
2025-04-29 06:04:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2269
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10363, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4695, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:04:37 [info] currentZPosition:0.0101
2025-04-29 06:04:37 [debug] Stopped at height 0.010 mm
2025-04-29 06:04:38 [debug] Stopped at height 0.010 mm
2025-04-29 06:04:38 [debug] Diagnostics for board 50:
2025-04-29 06:04:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:04:38 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:52:30 ago, cause: software
2025-04-29 06:04:38 [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
2025-04-29 06:04:38 [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
2025-04-29 06:04:38 [debug] Moves scheduled 27747, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 884, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=661, frequency (Hz): min=1241, max=15306
Sync err accum 89, peak jitter 1/2, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1729450943 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:04:38 [debug] Driver 0: pos -9596, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20004, writes 0 timeouts 0
2025-04-29 06:04:38 [debug] Last sensors broadcast 0x00000000 found 0 98 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 92, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 35995/37143
2025-04-29 06:04:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10342, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:04:38 [info] currentZPosition:0.0104
2025-04-29 06:04:40 [debug] Stopped at height 0.009 mm
2025-04-29 06:04:40 [debug] Diagnostics for board 50:
2025-04-29 06:04:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:04:40 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:52:31 ago, cause: software
2025-04-29 06:04:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:04:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:04:40 [debug] Moves scheduled 27751, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=725, frequency (Hz): min=1252, max=15306
Sync err accum 95, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1728317316 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 06:04:40 [debug] Driver 0: pos -9614, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17796, writes 0 timeouts 0
2025-04-29 06:04:40 [debug] Last sensors broadcast 0x00000000 found 0 109 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 96, 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 407, adv 35851/37081
2025-04-29 06:04:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2279
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10445, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4697, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:04:40 [info] currentZPosition:0.00865
2025-04-29 06:04:40 [debug] Stopped at height 0.009 mm
2025-04-29 06:04:41 [debug] Stopped at height 0.011 mm
2025-04-29 06:04:41 [debug] Diagnostics for board 50:
2025-04-29 06:04:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:04:41 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.2%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:52:33 ago, cause: software
2025-04-29 06:04:41 [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
2025-04-29 06:04:41 [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
2025-04-29 06:04:41 [debug] Moves scheduled 27757, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=501, frequency (Hz): min=1315, max=15306
Sync err accum 94, peak jitter -1/0, peak Rx delay 264, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1727094581 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max
2025-04-29 06:04:41 [debug] Driver 0: pos -9593, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 19350, writes 0 timeouts 0
2025-04-29 06:04:41 [debug] Last sensors broadcast 0x00000000 found 0 237 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 89, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36180/37165
2025-04-29 06:04:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10326, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:04:42 [info] currentZPosition:0.0107
2025-04-29 06:04:42 [debug] Stopped at height 0.009 mm
2025-04-29 06:04:43 [debug] Stopped at height 0.009 mm
2025-04-29 06:04:43 [debug] Diagnostics for board 50:
2025-04-29 06:04:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:04:43 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.0%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:52:35 ago, cause: software
2025-04-29 06:04:43 [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
2025-04-29 06:04:43 [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
2025-04-29 06:04:43 [debug] Moves scheduled 27763, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 309, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=672, frequency (Hz): min=1190, max=15306
Sync err accum 85, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1725727070 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 06:04:43 [debug] Driver 0: pos -9611, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 21680, writes 0 timeouts 0
2025-04-29 06:04:43 [debug] Last sensors broadcast 0x00000000 found 0 65 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 106, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 35749/37114
2025-04-29 06:04:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10406, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:04:43 [info] currentZPosition:0.00895
2025-04-29 06:04:45 [debug] Stopped at height 0.009 mm
2025-04-29 06:04:45 [debug] Diagnostics for board 50:
2025-04-29 06:04:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:04:45 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:52:36 ago, cause: software
2025-04-29 06:04:45 [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
2025-04-29 06:04:45 [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
2025-04-29 06:04:45 [debug] Moves scheduled 27767, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=464, frequency (Hz): min=1602, max=15306
Sync err accum 77, peak jitter -2/-1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1724698194 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, ma
2025-04-29 06:04:45 [debug] Driver 0: pos -9608, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16069, writes 0 timeouts 0
2025-04-29 06:04:45 [debug] Last sensors broadcast 0x00000000 found 0 183 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 83, 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 357, adv 35678/37135
2025-04-29 06:04:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10402, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:04:45 [info] currentZPosition:0.00924
2025-04-29 06:04:46 [debug] Stopped at height 0.009 mm
2025-04-29 06:04:46 [debug] Diagnostics for board 50:
2025-04-29 06:04:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:04:46 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.7%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:52:37 ago, cause: software
2025-04-29 06:04:46 [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
2025-04-29 06:04:46 [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
2025-04-29 06:04:46 [debug] Moves scheduled 27771, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 318, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=632, frequency (Hz): min=1239, max=15306
Sync err accum 63, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1723598553 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, ma
2025-04-29 06:04:46 [debug] Driver 0: pos -9608, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17276, writes 0 timeouts 0
2025-04-29 06:04:46 [debug] Last sensors broadcast 0x00000000 found 0 149 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 90, 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 523, adv 36298/37106
2025-04-29 06:04:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10450, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:04:46 [info] currentZPosition:0.00924
2025-04-29 06:04:47 [debug] Stopped at height 0.010 mm
2025-04-29 06:04:47 [debug] Diagnostics for board 50:
2025-04-29 06:04:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:04:47 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.3%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:52:39 ago, cause: software
2025-04-29 06:04:47 [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
2025-04-29 06:04:47 [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
2025-04-29 06:04:47 [debug] Moves scheduled 27775, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 309, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=565, frequency (Hz): min=1503, max=15625
Sync err accum 68, peak jitter -2/3, peak Rx delay 219, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1722573752 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max
2025-04-29 06:04:47 [debug] Driver 0: pos -9604, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16008, writes 0 timeouts 0
2025-04-29 06:04:47 [debug] Last sensors broadcast 0x00000000 found 0 16 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 86, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 35739/37124
2025-04-29 06:04:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10437, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:04:48 [info] currentZPosition:0.00974
2025-04-29 06:04:49 [debug] Stopped at height 0.010 mm
2025-04-29 06:04:49 [debug] Diagnostics for board 50:
2025-04-29 06:04:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:04:49 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:52:40 ago, cause: software
2025-04-29 06:04:49 [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
2025-04-29 06:04:49 [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
2025-04-29 06:04:49 [debug] Moves scheduled 27779, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 349, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=526, frequency (Hz): min=1521, max=15625
Sync err accum 81, peak jitter 1/3, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 1721477751 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:04:49 [debug] Driver 0: pos -9604, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17186, writes 0 timeouts 0
2025-04-29 06:04:49 [debug] Last sensors broadcast 0x00000000 found 0 227 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 84, 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 395, adv 36058/37136
2025-04-29 06:04:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10399, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:04:49 [info] currentZPosition:0.00974
2025-04-29 06:04:50 [debug] Stopped at height 0.010 mm
2025-04-29 06:04:50 [debug] Diagnostics for board 50:
2025-04-29 06:04:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:04:50 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.9%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:52:42 ago, cause: software
2025-04-29 06:04:50 [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
2025-04-29 06:04:50 [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
2025-04-29 06:04:50 [debug] Moves scheduled 27783, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=584, frequency (Hz): min=1428, max=15306
Sync err accum 89, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1720460084 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 06:04:50 [debug] Driver 0: pos -9597, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15991, writes 0 timeouts 0
2025-04-29 06:04:50 [debug] Last sensors broadcast 0x00000000 found 0 85 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 85, 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 420, adv 35905/37126
2025-04-29 06:04:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10381, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:04:50 [info] currentZPosition:0.0104
2025-04-29 06:04:52 [debug] Stopped at height 0.010 mm
2025-04-29 06:04:52 [debug] Diagnostics for board 50:
2025-04-29 06:04:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:04:52 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:52:43 ago, cause: software
2025-04-29 06:04:52 [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
2025-04-29 06:04:52 [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
2025-04-29 06:04:52 [debug] Moves scheduled 27787, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 334, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=592, frequency (Hz): min=1445, max=15306
Sync err accum 93, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 1719358239 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:04:52 [debug] Driver 0: pos -9601, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17410, writes 0 timeouts 0
2025-04-29 06:04:52 [debug] Last sensors broadcast 0x00000000 found 0 52 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 85, 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 447, adv 35940/37160
2025-04-29 06:04:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10377, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:04:52 [info] currentZPosition:0.0100
2025-04-29 06:04:53 [debug] Stopped at height 0.009 mm
2025-04-29 06:04:53 [debug] Diagnostics for board 50:
2025-04-29 06:04:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:04:53 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:52:44 ago, cause: software
2025-04-29 06:04:53 [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
2025-04-29 06:04:53 [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
2025-04-29 06:04:53 [debug] Moves scheduled 27791, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=490, frequency (Hz): min=1785, max=15306
Sync err accum 93, peak jitter -1/1, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1718299758 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max
2025-04-29 06:04:53 [debug] Driver 0: pos -9613, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16614, writes 0 timeouts 0
2025-04-29 06:04:53 [debug] Last sensors broadcast 0x00000000 found 0 215 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 92, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 365, adv 36253/37131
2025-04-29 06:04:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10408, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:04:53 [info] currentZPosition:0.00885
2025-04-29 06:04:55 [debug] Stopped at height 0.010 mm
2025-04-29 06:04:55 [debug] Diagnostics for board 50:
2025-04-29 06:04:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:04:55 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:52:46 ago, cause: software
2025-04-29 06:04:55 [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
2025-04-29 06:04:55 [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
2025-04-29 06:04:55 [debug] Moves scheduled 27795, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 166, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=453, frequency (Hz): min=1728, max=15306
Sync err accum 90, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1717230494 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:04:55 [debug] Driver 0: pos -9600, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16771, writes 0 timeouts 0
2025-04-29 06:04:55 [debug] Last sensors broadcast 0x00000000 found 0 141 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 89, 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 381, adv 35806/37173
2025-04-29 06:04:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10403, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:04:55 [info] currentZPosition:0.0101
2025-04-29 06:04:55 [debug] Stopped at height 0.009 mm
2025-04-29 06:04:56 [debug] Stopped at height 0.011 mm
2025-04-29 06:04:56 [debug] Diagnostics for board 50:
2025-04-29 06:04:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:04:56 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:52:48 ago, cause: software
2025-04-29 06:04:56 [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
2025-04-29 06:04:56 [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
2025-04-29 06:04:56 [debug] Moves scheduled 27801, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=556, frequency (Hz): min=1662, max=15306
Sync err accum 81, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1715975510 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max
2025-04-29 06:04:56 [debug] Driver 0: pos -9594, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 19833, writes 0 timeouts 0
2025-04-29 06:04:56 [debug] Last sensors broadcast 0x00000000 found 0 62 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 93, 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 526, adv 35884/37095
2025-04-29 06:04:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2269
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10316, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:04:56 [info] currentZPosition:0.0107
2025-04-29 06:04:57 [debug] Stopped at height 0.010 mm
2025-04-29 06:04:58 [debug] Stopped at height 0.009 mm
2025-04-29 06:04:58 [debug] Diagnostics for board 50:
2025-04-29 06:04:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:04:58 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.0%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:52:49 ago, cause: software
2025-04-29 06:04:58 [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
2025-04-29 06:04:58 [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
2025-04-29 06:04:58 [debug] Moves scheduled 27807, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=612, frequency (Hz): min=1521, max=15625
Sync err accum 68, peak jitter -2/-1, peak Rx delay 184, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1714608746 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, ma
2025-04-29 06:04:58 [debug] Driver 0: pos -9614, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 21647, writes 0 timeouts 0
2025-04-29 06:04:58 [debug] Last sensors broadcast 0x00000000 found 0 138 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 106, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 35596/37124
2025-04-29 06:04:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2279
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10434, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:04:58 [info] currentZPosition:0.00875
2025-04-29 06:04:59 [debug] Stopped at height 0.010 mm
2025-04-29 06:04:59 [debug] Diagnostics for board 50:
2025-04-29 06:04:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:04:59 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:52:51 ago, cause: software
2025-04-29 06:04:59 [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
2025-04-29 06:04:59 [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
2025-04-29 06:04:59 [debug] Moves scheduled 27811, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=712, frequency (Hz): min=1288, max=15306
Sync err accum 61, peak jitter -3/1, peak Rx delay 199, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1713596805 ticks, 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
2025-04-29 06:04:59 [debug] Driver 0: pos -9600, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15728, writes 0 timeouts 0
2025-04-29 06:04:59 [debug] Last sensors broadcast 0x00000000 found 0 234 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 84, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 343, adv 36028/37147
2025-04-29 06:04:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10407, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:05:00 [info] currentZPosition:0.0101
2025-04-29 06:05:00 [debug] Stopped at height 0.009 mm
2025-04-29 06:05:01 [debug] Stopped at height 0.009 mm
2025-04-29 06:05:01 [debug] Diagnostics for board 50:
2025-04-29 06:05:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:05:01 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.1%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:52:53 ago, cause: software
2025-04-29 06:05:01 [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
2025-04-29 06:05:01 [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
2025-04-29 06:05:01 [debug] Moves scheduled 27817, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 487, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=578, frequency (Hz): min=545, max=15306
Sync err accum 83, peak jitter 2/3, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1712241423 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max 3
2025-04-29 06:05:01 [debug] Driver 0: pos -9611, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 21447, writes 11 timeouts 1
2025-04-29 06:05:01 [debug] Last sensors broadcast 0x00000000 found 0 43 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 102, 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 454, adv 36243/37125
2025-04-29 06:05:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10407, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:05:01 [info] currentZPosition:0.00905
2025-04-29 06:05:03 [debug] Stopped at height 0.010 mm
2025-04-29 06:05:03 [debug] Diagnostics for board 50:
2025-04-29 06:05:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:05:03 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.3%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:52:54 ago, cause: software
2025-04-29 06:05:03 [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
2025-04-29 06:05:03 [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
2025-04-29 06:05:03 [debug] Moves scheduled 27821, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=676, frequency (Hz): min=1215, max=15306
Sync err accum 100, peak jitter 2/3, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1711214972 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:05:03 [debug] Driver 0: pos -9606, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16014, writes 0 timeouts 0
2025-04-29 06:05:03 [debug] Last sensors broadcast 0x00000000 found 0 160 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 85, 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 357, adv 36180/37149
2025-04-29 06:05:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10409, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:05:03 [info] currentZPosition:0.00954
2025-04-29 06:05:04 [debug] Stopped at height 0.010 mm
2025-04-29 06:05:04 [debug] Diagnostics for board 50:
2025-04-29 06:05:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:05:04 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:52:55 ago, cause: software
2025-04-29 06:05:04 [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
2025-04-29 06:05:04 [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
2025-04-29 06:05:04 [debug] Moves scheduled 27825, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=746, frequency (Hz): min=1271, max=15625
Sync err accum 111, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1710135750 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max
2025-04-29 06:05:04 [debug] Driver 0: pos -9597, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17017, writes 0 timeouts 0
2025-04-29 06:05:04 [debug] Last sensors broadcast 0x00000000 found 0 99 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 82, 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 344, adv 36082/37157
2025-04-29 06:05:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10380, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2268
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:05:04 [info] currentZPosition:0.0104
2025-04-29 06:05:05 [debug] Stopped at height 0.009 mm
2025-04-29 06:05:05 [debug] Diagnostics for board 50:
2025-04-29 06:05:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:05:05 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.8%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:52:57 ago, cause: software
2025-04-29 06:05:05 [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
2025-04-29 06:05:05 [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
2025-04-29 06:05:05 [debug] Moves scheduled 27829, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=641, frequency (Hz): min=1279, max=15306
Sync err accum 121, peak jitter 1/2, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 1709073713 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:05:05 [debug] Driver 0: pos -9611, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16685, writes 0 timeouts 0
2025-04-29 06:05:05 [debug] Last sensors broadcast 0x00000000 found 0 16 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 89, 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 454, adv 36288/37079
2025-04-29 06:05:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2279
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10427, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:05:06 [info] currentZPosition:0.00905
2025-04-29 06:05:06 [debug] Stopped at height 0.007 mm
2025-04-29 06:05:06 [debug] Stopped at height 0.008 mm
2025-04-29 06:05:08 [debug] Stopped at height 0.010 mm
2025-04-29 06:05:08 [debug] Diagnostics for board 50:
2025-04-29 06:05:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:05:08 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.4%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:52:59 ago, cause: software
2025-04-29 06:05:08 [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
2025-04-29 06:05:08 [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
2025-04-29 06:05:08 [debug] Moves scheduled 27837, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=478, frequency (Hz): min=579, max=15306
Sync err accum 124, peak jitter -2/2, peak Rx delay 186, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1707522057 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max
2025-04-29 06:05:08 [debug] Driver 0: pos -9602, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 24737, writes 11 timeouts 1
2025-04-29 06:05:08 [debug] Last sensors broadcast 0x00000000 found 0 84 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 118, 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 480, adv 35854/37110
2025-04-29 06:05:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10391, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:05:08 [info] currentZPosition:0.00994
2025-04-29 06:05:08 [debug] Stopped at height 0.009 mm
2025-04-29 06:05:09 [debug] Stopped at height 0.010 mm
2025-04-29 06:05:09 [debug] Diagnostics for board 50:
2025-04-29 06:05:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:05:09 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:53:01 ago, cause: software
2025-04-29 06:05:09 [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
2025-04-29 06:05:09 [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
2025-04-29 06:05:09 [debug] Moves scheduled 27843, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 167, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=573, frequency (Hz): min=1428, max=15625
Sync err accum 112, peak jitter -3/0, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1706240352 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, ma
2025-04-29 06:05:09 [debug] Driver 0: pos -9606, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20227, writes 0 timeouts 0
2025-04-29 06:05:09 [debug] Last sensors broadcast 0x00000000 found 0 44 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 103, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 35639/37159
2025-04-29 06:05:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10391, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:05:09 [info] currentZPosition:0.00954
2025-04-29 06:05:11 [debug] Stopped at height 0.010 mm
2025-04-29 06:05:11 [debug] Diagnostics for board 50:
2025-04-29 06:05:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:05:11 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:53:02 ago, cause: software
2025-04-29 06:05:11 [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
2025-04-29 06:05:11 [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
2025-04-29 06:05:11 [debug] Moves scheduled 27847, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=489, frequency (Hz): min=1575, max=15306
Sync err accum 98, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1705164213 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, ma
2025-04-29 06:05:11 [debug] Driver 0: pos -9597, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16969, writes 0 timeouts 0
2025-04-29 06:05:11 [debug] Last sensors broadcast 0x00000000 found 0 227 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 80, 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 432, adv 35612/37163
2025-04-29 06:05:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10378, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:05:11 [info] currentZPosition:0.0104
2025-04-29 06:05:12 [debug] Stopped at height 0.010 mm
2025-04-29 06:05:12 [debug] Diagnostics for board 50:
2025-04-29 06:05:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:05:12 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:53:03 ago, cause: software
2025-04-29 06:05:12 [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
2025-04-29 06:05:12 [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
2025-04-29 06:05:12 [debug] Moves scheduled 27851, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 305, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=554, frequency (Hz): min=1521, max=15306
Sync err accum 81, peak jitter -4/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 1704134974 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 06:05:12 [debug] Driver 0: pos -9597, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16161, writes 0 timeouts 0
2025-04-29 06:05:12 [debug] Last sensors broadcast 0x00000000 found 0 100 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 82, 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 369, adv 35813/37144
2025-04-29 06:05:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2269
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10340, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4707, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:05:12 [info] currentZPosition:0.0104
2025-04-29 06:05:14 [debug] Stopped at height 0.010 mm
2025-04-29 06:05:14 [debug] Diagnostics for board 50:
2025-04-29 06:05:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:05:14 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:53:05 ago, cause: software
2025-04-29 06:05:14 [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
2025-04-29 06:05:14 [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
2025-04-29 06:05:14 [debug] Moves scheduled 27855, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=581, frequency (Hz): min=1436, max=15306
Sync err accum 65, peak jitter -3/-1, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1703035062 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, ma
2025-04-29 06:05:14 [debug] Driver 0: pos -9601, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17346, writes 0 timeouts 0
2025-04-29 06:05:14 [debug] Last sensors broadcast 0x00000000 found 0 68 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 83, 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 459, adv 36263/37173
2025-04-29 06:05:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10365, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:05:14 [info] currentZPosition:0.0100
2025-04-29 06:05:15 [debug] Stopped at height 0.010 mm
2025-04-29 06:05:15 [debug] Diagnostics for board 50:
2025-04-29 06:05:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:05:15 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.8%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:53:06 ago, cause: software
2025-04-29 06:05:15 [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
2025-04-29 06:05:15 [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
2025-04-29 06:05:15 [debug] Moves scheduled 27859, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=637, frequency (Hz): min=1282, max=15306
Sync err accum 63, peak jitter -2/2, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1701996824 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max
2025-04-29 06:05:15 [debug] Driver 0: pos -9604, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16289, writes 0 timeouts 0
2025-04-29 06:05:15 [debug] Last sensors broadcast 0x00000000 found 0 200 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 83, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 35930/37169
2025-04-29 06:05:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10426, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:05:15 [info] currentZPosition:0.00974
2025-04-29 06:05:16 [debug] Stopped at height 0.009 mm
2025-04-29 06:05:16 [debug] Diagnostics for board 50:
2025-04-29 06:05:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:05:16 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:53:08 ago, cause: software
2025-04-29 06:05:16 [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
2025-04-29 06:05:16 [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
2025-04-29 06:05:16 [debug] Moves scheduled 27863, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 391, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=552, frequency (Hz): min=1491, max=15000
Sync err accum 81, peak jitter 2/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1700884339 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 06:05:16 [debug] Driver 0: pos -9615, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17507, writes 0 timeouts 0
2025-04-29 06:05:16 [debug] Last sensors broadcast 0x00000000 found 0 190 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 96, 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 446, adv 36090/37104
2025-04-29 06:05:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10406, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:05:16 [info] currentZPosition:0.00865
2025-04-29 06:05:18 [debug] Stopped at height 0.009 mm
2025-04-29 06:05:18 [debug] Diagnostics for board 50:
2025-04-29 06:05:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:05:18 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.1%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:53:09 ago, cause: software
2025-04-29 06:05:18 [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
2025-04-29 06:05:18 [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
2025-04-29 06:05:18 [debug] Moves scheduled 27867, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 755, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=740, frequency (Hz): min=1264, max=15625
Sync err accum 94, peak jitter 1/3, peak Rx delay 186, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1699860620 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:05:18 [debug] Driver 0: pos -9607, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16032, writes 0 timeouts 0
2025-04-29 06:05:18 [debug] Last sensors broadcast 0x00000000 found 0 50 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 87, 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 381, adv 36072/37161
2025-04-29 06:05:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10405, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:05:18 [info] currentZPosition:0.00944
2025-04-29 06:05:19 [debug] Stopped at height 0.010 mm
2025-04-29 06:05:19 [debug] Diagnostics for board 50:
2025-04-29 06:05:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:05:19 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:53:10 ago, cause: software
2025-04-29 06:05:19 [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
2025-04-29 06:05:19 [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
2025-04-29 06:05:19 [debug] Moves scheduled 27871, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=488, frequency (Hz): min=1521, max=15306
Sync err accum 103, peak jitter 1/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1698788340 ticks, 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
2025-04-29 06:05:19 [debug] Driver 0: pos -9597, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16819, writes 0 timeouts 0
2025-04-29 06:05:19 [debug] Last sensors broadcast 0x00000000 found 0 228 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 80, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 35907/37119
2025-04-29 06:05:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2268
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10351, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:05:19 [info] currentZPosition:0.0104
2025-04-29 06:05:21 [debug] Stopped at height 0.009 mm
2025-04-29 06:05:21 [debug] Diagnostics for board 50:
2025-04-29 06:05:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:05:21 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:53:12 ago, cause: software
2025-04-29 06:05:21 [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
2025-04-29 06:05:21 [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
2025-04-29 06:05:21 [debug] Moves scheduled 27875, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 166, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=626, frequency (Hz): min=927, max=15306
Sync err accum 110, peak jitter 0/2, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 1697740492 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:05:21 [debug] Driver 0: pos -9607, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16448, writes 11 timeouts 1
2025-04-29 06:05:21 [debug] Last sensors broadcast 0x00000000 found 0 130 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 89, 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 391, adv 36202/37112
2025-04-29 06:05:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10396, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:05:21 [info] currentZPosition:0.00944
2025-04-29 06:05:22 [debug] Stopped at height 0.010 mm
2025-04-29 06:05:22 [debug] Diagnostics for board 50:
2025-04-29 06:05:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:05:22 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.7%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:53:13 ago, cause: software
2025-04-29 06:05:22 [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
2025-04-29 06:05:22 [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
2025-04-29 06:05:22 [debug] Moves scheduled 27879, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=634, frequency (Hz): min=1279, max=15306
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 1696650269 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 06:05:22 [debug] Driver 0: pos -9606, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17143, writes 0 timeouts 0
2025-04-29 06:05:22 [debug] Last sensors broadcast 0x00000000 found 0 79 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 87, 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 380, adv 35743/37155
2025-04-29 06:05:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10391, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:05:22 [info] currentZPosition:0.00964
2025-04-29 06:05:23 [debug] Stopped at height 0.011 mm
2025-04-29 06:05:23 [debug] Diagnostics for board 50:
2025-04-29 06:05:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:05:23 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.2%
Owned mutexes:
Last reset 16:53:15 ago, cause: software
2025-04-29 06:05:23 [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
2025-04-29 06:05:23 [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
2025-04-29 06:05:23 [debug] Moves scheduled 27883, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=568, frequency (Hz): min=1582, max=15306
Sync err accum 110, peak jitter -1/1, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1695638733 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, ma
2025-04-29 06:05:23 [debug] Driver 0: pos -9595, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15844, writes 0 timeouts 0
2025-04-29 06:05:23 [debug] Last sensors broadcast 0x00000000 found 0 179 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 80, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 35600/37129
2025-04-29 06:05:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10345, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:05:23 [info] currentZPosition:0.0107
2025-04-29 06:05:25 [debug] Stopped at height 0.010 mm
2025-04-29 06:05:25 [debug] Diagnostics for board 50:
2025-04-29 06:05:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:05:25 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:53:16 ago, cause: software
2025-04-29 06:05:25 [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
2025-04-29 06:05:25 [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
2025-04-29 06:05:25 [debug] Moves scheduled 27887, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=533, frequency (Hz): min=1630, max=15625
Sync err accum 105, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1694537353 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, ma
2025-04-29 06:05:25 [debug] Driver 0: pos -9600, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17441, writes 0 timeouts 0
2025-04-29 06:05:25 [debug] Last sensors broadcast 0x00000000 found 0 148 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 83, 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 435, adv 35581/37160
2025-04-29 06:05:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10408, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:05:25 [info] currentZPosition:0.0103
2025-04-29 06:05:26 [debug] Stopped at height 0.009 mm
2025-04-29 06:05:26 [debug] Diagnostics for board 50:
2025-04-29 06:05:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:05:26 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.9%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:53:18 ago, cause: software
2025-04-29 06:05:26 [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
2025-04-29 06:05:26 [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
2025-04-29 06:05:26 [debug] Moves scheduled 27891, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=536, frequency (Hz): min=589, max=15306
Sync err accum 94, peak jitter -3/-1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 1693481500 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:05:26 [debug] Driver 0: pos -9611, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16505, writes 11 timeouts 1
2025-04-29 06:05:26 [debug] Last sensors broadcast 0x00000000 found 0 55 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 90, 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 400, adv 35712/37099
2025-04-29 06:05:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10415, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:05:26 [info] currentZPosition:0.00934
2025-04-29 06:05:28 [debug] Stopped at height 0.010 mm
2025-04-29 06:05:28 [debug] Diagnostics for board 50:
2025-04-29 06:05:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:05:28 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:53:19 ago, cause: software
2025-04-29 06:05:28 [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
2025-04-29 06:05:28 [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
2025-04-29 06:05:28 [debug] Moves scheduled 27895, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=653, frequency (Hz): min=1346, max=15306
Sync err accum 80, peak jitter -3/-1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1692406524 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 06:05:28 [debug] Driver 0: pos -9603, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16874, writes 0 timeouts 0
2025-04-29 06:05:28 [debug] Last sensors broadcast 0x00000000 found 0 239 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 80, 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 371, adv 36229/37103
2025-04-29 06:05:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10418, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:05:28 [info] currentZPosition:0.0101
2025-04-29 06:05:29 [debug] Stopped at height 0.010 mm
2025-04-29 06:05:29 [debug] Diagnostics for board 50:
2025-04-29 06:05:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:05:29 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:53:20 ago, cause: software
2025-04-29 06:05:29 [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
2025-04-29 06:05:29 [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
2025-04-29 06:05:29 [debug] Moves scheduled 27899, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=37, max=570, frequency (Hz): min=578, max=15306
Sync err accum 67, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1691380353 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatu
2025-04-29 06:05:29 [debug] Driver 0: pos -9603, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16030, writes 11 timeouts 1
2025-04-29 06:05:29 [debug] Last sensors broadcast 0x00000000 found 0 108 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 86, 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 389, adv 35860/37112
2025-04-29 06:05:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10374, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:05:29 [info] currentZPosition:0.0101
2025-04-29 06:05:30 [debug] Stopped at height 0.011 mm
2025-04-29 06:05:30 [debug] Diagnostics for board 50:
2025-04-29 06:05:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:05:30 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:53:22 ago, cause: software
2025-04-29 06:05:30 [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
2025-04-29 06:05:30 [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
2025-04-29 06:05:30 [debug] Moves scheduled 27903, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=548, frequency (Hz): min=1500, max=15625
Sync err accum 62, peak jitter -4/2, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1690304374 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max
2025-04-29 06:05:30 [debug] Driver 0: pos -9596, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16884, writes 0 timeouts 0
2025-04-29 06:05:30 [debug] Last sensors broadcast 0x00000000 found 0 41 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 83, 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 364, adv 36027/37124
2025-04-29 06:05:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10328, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:05:31 [info] currentZPosition:0.0108
2025-04-29 06:05:32 [debug] Stopped at height 0.010 mm
2025-04-29 06:05:32 [debug] Diagnostics for board 50:
2025-04-29 06:05:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:05:32 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:53:23 ago, cause: software
2025-04-29 06:05:32 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:05:32 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:05:32 [debug] Moves scheduled 27907, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=482, frequency (Hz): min=1716, max=15306
Sync err accum 77, peak jitter 1/4, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1689250795 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 06:05:32 [debug] Driver 0: pos -9607, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16525, writes 0 timeouts 0
2025-04-29 06:05:32 [debug] Last sensors broadcast 0x00000000 found 0 198 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 86, 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 372, adv 36033/37124
2025-04-29 06:05:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10403, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4697, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:05:32 [info] currentZPosition:0.00974
2025-04-29 06:05:33 [debug] Stopped at height 0.010 mm
2025-04-29 06:05:33 [debug] Diagnostics for board 50:
2025-04-29 06:05:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:05:33 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:53:25 ago, cause: software
2025-04-29 06:05:33 [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
2025-04-29 06:05:33 [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
2025-04-29 06:05:33 [debug] Moves scheduled 27911, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=548, frequency (Hz): min=1612, max=19230
Sync err accum 87, peak jitter 1/2, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1688159372 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:05:33 [debug] Driver 0: pos -9606, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17128, writes 0 timeouts 0
2025-04-29 06:05:33 [debug] Last sensors broadcast 0x00000000 found 0 154 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 88, 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 374, adv 35908/37109
2025-04-29 06:05:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10432, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4697, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:05:33 [info] currentZPosition:0.00984
2025-04-29 06:05:35 [debug] Stopped at height 0.010 mm
2025-04-29 06:05:35 [debug] Diagnostics for board 50:
2025-04-29 06:05:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:05:35 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:53:26 ago, cause: software
2025-04-29 06:05:35 [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
2025-04-29 06:05:35 [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
2025-04-29 06:05:35 [debug] Moves scheduled 27915, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=485, frequency (Hz): min=1659, max=15625
Sync err accum 95, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1687131317 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:05:35 [debug] Driver 0: pos -9603, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16076, writes 0 timeouts 0
2025-04-29 06:05:35 [debug] Last sensors broadcast 0x00000000 found 0 22 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 86, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36187/37112
2025-04-29 06:05:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10381, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:05:35 [info] currentZPosition:0.0101
2025-04-29 06:05:36 [debug] Stopped at height 0.009 mm
2025-04-29 06:05:36 [debug] Diagnostics for board 50:
2025-04-29 06:05:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:05:36 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:53:27 ago, cause: software
2025-04-29 06:05:36 [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
2025-04-29 06:05:36 [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
2025-04-29 06:05:36 [debug] Moves scheduled 27919, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=590, frequency (Hz): min=1559, max=15306
Sync err accum 96, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1686017755 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 06:05:36 [debug] Driver 0: pos -9614, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17477, writes 0 timeouts 0
2025-04-29 06:05:36 [debug] Last sensors broadcast 0x00000000 found 0 6 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 96, 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 417, adv 35684/37071
2025-04-29 06:05:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10429, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:05:36 [info] currentZPosition:0.00905
2025-04-29 06:05:38 [debug] Stopped at height 0.010 mm
2025-04-29 06:05:38 [debug] Diagnostics for board 50:
2025-04-29 06:05:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:05:38 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:53:29 ago, cause: software
2025-04-29 06:05:38 [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
2025-04-29 06:05:38 [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
2025-04-29 06:05:38 [debug] Moves scheduled 27923, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=605, frequency (Hz): min=1512, max=15306
Sync err accum 97, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1684997070 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:05:38 [debug] Driver 0: pos -9607, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15924, writes 0 timeouts 0
2025-04-29 06:05:38 [debug] Last sensors broadcast 0x00000000 found 0 120 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 87, 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 383, adv 36260/37116
2025-04-29 06:05:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10427, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4707, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:05:38 [info] currentZPosition:0.00974
2025-04-29 06:05:39 [debug] Stopped at height 0.010 mm
2025-04-29 06:05:39 [debug] Diagnostics for board 50:
2025-04-29 06:05:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:05:39 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:53:30 ago, cause: software
2025-04-29 06:05:39 [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
2025-04-29 06:05:39 [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
2025-04-29 06:05:39 [debug] Moves scheduled 27927, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=685, frequency (Hz): min=1198, max=28846
Sync err accum 92, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 1683906826 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:05:39 [debug] Driver 0: pos -9605, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17050, writes 0 timeouts 0
2025-04-29 06:05:39 [debug] Last sensors broadcast 0x00000000 found 0 72 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 85, 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 482, adv 36186/37070
2025-04-29 06:05:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10435, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:05:39 [info] currentZPosition:0.00994
2025-04-29 06:05:40 [debug] Stopped at height 0.010 mm
2025-04-29 06:05:40 [debug] Diagnostics for board 50:
2025-04-29 06:05:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:05:40 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.8%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:53:32 ago, cause: software
2025-04-29 06:05:40 [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
2025-04-29 06:05:40 [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
2025-04-29 06:05:40 [debug] Moves scheduled 27931, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 1040, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=640, frequency (Hz): min=1445, max=15306
Sync err accum 81, peak jitter -2/-1, peak Rx delay 201, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 1682866275 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, 
2025-04-29 06:05:40 [debug] Driver 0: pos -9608, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16315, writes 0 timeouts 0
2025-04-29 06:05:40 [debug] Last sensors broadcast 0x00000000 found 0 208 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 89, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 35689/37113
2025-04-29 06:05:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10410, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2280
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:05:41 [info] currentZPosition:0.00964
2025-04-29 06:05:42 [debug] Stopped at height 0.010 mm
2025-04-29 06:05:42 [debug] Diagnostics for board 50:
2025-04-29 06:05:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:05:42 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:53:33 ago, cause: software
2025-04-29 06:05:42 [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
2025-04-29 06:05:42 [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
2025-04-29 06:05:42 [debug] Moves scheduled 27935, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=566, frequency (Hz): min=1394, max=15306
Sync err accum 69, peak jitter -3/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1681774731 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatu
2025-04-29 06:05:42 [debug] Driver 0: pos -9606, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17174, writes 0 timeouts 0
2025-04-29 06:05:42 [debug] Last sensors broadcast 0x00000000 found 0 168 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 90, 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 391, adv 36102/37112
2025-04-29 06:05:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10402, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:05:42 [info] currentZPosition:0.00984
2025-04-29 06:05:43 [debug] Stopped at height 0.011 mm
2025-04-29 06:05:43 [debug] Diagnostics for board 50:
2025-04-29 06:05:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:05:43 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:53:35 ago, cause: software
2025-04-29 06:05:43 [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
2025-04-29 06:05:43 [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
2025-04-29 06:05:43 [debug] Moves scheduled 27939, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=672, frequency (Hz): min=1386, max=15625
Sync err accum 61, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1680753803 ticks, 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
2025-04-29 06:05:43 [debug] Driver 0: pos -9597, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16022, writes 0 timeouts 0
2025-04-29 06:05:43 [debug] Last sensors broadcast 0x00000000 found 0 26 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 85, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 365, adv 35825/37100
2025-04-29 06:05:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10380, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:05:43 [info] currentZPosition:0.0107
2025-04-29 06:05:45 [debug] Stopped at height 0.010 mm
2025-04-29 06:05:45 [debug] Diagnostics for board 50:
2025-04-29 06:05:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:05:45 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:53:36 ago, cause: software
2025-04-29 06:05:45 [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
2025-04-29 06:05:45 [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
2025-04-29 06:05:45 [debug] Moves scheduled 27943, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 192, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=614, frequency (Hz): min=1464, max=15625
Sync err accum 74, peak jitter 1/3, peak Rx delay 195, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1679646376 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 06:05:45 [debug] Driver 0: pos -9608, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17476, writes 0 timeouts 0
2025-04-29 06:05:45 [debug] Last sensors broadcast 0x00000000 found 0 3 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 86, 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 388, adv 35953/37103
2025-04-29 06:05:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10444, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:05:45 [info] currentZPosition:0.00964
2025-04-29 06:05:46 [debug] Stopped at height 0.011 mm
2025-04-29 06:05:46 [debug] Diagnostics for board 50:
2025-04-29 06:05:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:05:46 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.2%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:53:37 ago, cause: software
2025-04-29 06:05:46 [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
2025-04-29 06:05:46 [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
2025-04-29 06:05:46 [debug] Moves scheduled 27947, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 263, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=494, frequency (Hz): min=1521, max=15306
Sync err accum 84, peak jitter 1/2, peak Rx delay 204, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1678643620 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max 
2025-04-29 06:05:46 [debug] Driver 0: pos -9591, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15712, writes 0 timeouts 0
2025-04-29 06:05:46 [debug] Last sensors broadcast 0x00000000 found 0 90 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 81, 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 375, adv 35935/37121
2025-04-29 06:05:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10364, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:05:46 [info] currentZPosition:0.0113
2025-04-29 06:05:46 [debug] Stopped at height 0.010 mm
2025-04-29 06:05:48 [debug] Stopped at height 0.009 mm
2025-04-29 06:05:48 [debug] Diagnostics for board 50:
2025-04-29 06:05:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:05:48 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:53:39 ago, cause: software
2025-04-29 06:05:48 [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
2025-04-29 06:05:48 [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
2025-04-29 06:05:48 [debug] Moves scheduled 27953, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 328, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=509, frequency (Hz): min=1503, max=15306
Sync err accum 89, peak jitter 0/1, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1677280587 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 06:05:48 [debug] Driver 0: pos -9612, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 21632, writes 0 timeouts 0
2025-04-29 06:05:48 [debug] Last sensors broadcast 0x00000000 found 0 156 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 107, 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 362, adv 35824/37126
2025-04-29 06:05:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10452, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:05:48 [info] currentZPosition:0.00924
2025-04-29 06:05:49 [debug] Stopped at height 0.008 mm
2025-04-29 06:05:49 [debug] Diagnostics for board 50:
2025-04-29 06:05:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:05:49 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:53:41 ago, cause: software
2025-04-29 06:05:49 [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
2025-04-29 06:05:49 [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
2025-04-29 06:05:49 [debug] Moves scheduled 27957, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=469, frequency (Hz): min=1616, max=15306
Sync err accum 90, peak jitter 0/1, peak Rx delay 228, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1676223449 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 06:05:49 [debug] Driver 0: pos -9623, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16505, writes 0 timeouts 0
2025-04-29 06:05:49 [debug] Last sensors broadcast 0x00000000 found 0 66 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 102, 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 381, adv 35876/37116
2025-04-29 06:05:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10451, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:05:49 [info] currentZPosition:0.00815
2025-04-29 06:05:51 [debug] Stopped at height 0.011 mm
2025-04-29 06:05:51 [debug] Diagnostics for board 50:
2025-04-29 06:05:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:05:51 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:53:42 ago, cause: software
2025-04-29 06:05:51 [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
2025-04-29 06:05:51 [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
2025-04-29 06:05:51 [debug] Moves scheduled 27961, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 160, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=513, frequency (Hz): min=1592, max=15306
Sync err accum 88, peak jitter -1/0, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1675186504 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max
2025-04-29 06:05:51 [debug] Driver 0: pos -9594, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16252, writes 0 timeouts 0
2025-04-29 06:05:51 [debug] Last sensors broadcast 0x00000000 found 0 201 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 83, 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 388, adv 35630/37139
2025-04-29 06:05:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10367, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:05:51 [info] currentZPosition:0.0110
2025-04-29 06:05:51 [debug] Stopped at height 0.010 mm
2025-04-29 06:05:52 [debug] Stopped at height 0.009 mm
2025-04-29 06:05:52 [debug] Diagnostics for board 50:
2025-04-29 06:05:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:05:52 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.1%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:53:44 ago, cause: software
2025-04-29 06:05:52 [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
2025-04-29 06:05:52 [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
2025-04-29 06:05:52 [debug] Moves scheduled 27967, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=590, frequency (Hz): min=1552, max=15625
Sync err accum 80, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1673878018 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:05:52 [debug] Driver 0: pos -9611, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20692, writes 0 timeouts 0
2025-04-29 06:05:52 [debug] Last sensors broadcast 0x00000000 found 0 193 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 102, 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 406, adv 35779/37122
2025-04-29 06:05:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10400, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:05:52 [info] currentZPosition:0.00934
2025-04-29 06:05:53 [debug] Stopped at height 0.009 mm
2025-04-29 06:05:54 [debug] Stopped at height 0.009 mm
2025-04-29 06:05:54 [debug] Diagnostics for board 50:
2025-04-29 06:05:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:05:54 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:53:45 ago, cause: software
2025-04-29 06:05:54 [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
2025-04-29 06:05:54 [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
2025-04-29 06:05:54 [debug] Moves scheduled 27973, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=641, frequency (Hz): min=1269, max=15306
Sync err accum 64, peak jitter -3/-1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1672531755 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, ma
2025-04-29 06:05:54 [debug] Driver 0: pos -9619, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 21259, writes 0 timeouts 0
2025-04-29 06:05:54 [debug] Last sensors broadcast 0x00000000 found 0 240 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 117, 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 426, adv 36261/37163
2025-04-29 06:05:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10474, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:05:54 [info] currentZPosition:0.00855
2025-04-29 06:05:55 [debug] Stopped at height 0.011 mm
2025-04-29 06:05:55 [debug] Diagnostics for board 50:
2025-04-29 06:05:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:05:55 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.5%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:53:47 ago, cause: software
2025-04-29 06:05:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:05:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:05:55 [debug] Moves scheduled 27977, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=525, frequency (Hz): min=1616, max=15306
Sync err accum 68, peak jitter -2/3, peak Rx delay 185, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1671542296 ticks, 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
2025-04-29 06:05:55 [debug] Driver 0: pos -9594, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15419, writes 0 timeouts 0
2025-04-29 06:05:55 [debug] Last sensors broadcast 0x00000000 found 0 56 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 82, 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 422, adv 35880/37119
2025-04-29 06:05:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10352, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:05:56 [info] currentZPosition:0.0110
2025-04-29 06:05:56 [debug] Stopped at height 0.010 mm
2025-04-29 06:05:57 [debug] Stopped at height 0.009 mm
2025-04-29 06:05:57 [debug] Diagnostics for board 50:
2025-04-29 06:05:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:05:57 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.9%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:53:49 ago, cause: software
2025-04-29 06:05:57 [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
2025-04-29 06:05:57 [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
2025-04-29 06:05:57 [debug] Moves scheduled 27983, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=530, frequency (Hz): min=752, max=15306
Sync err accum 84, peak jitter 1/3, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1670174800 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 3
2025-04-29 06:05:57 [debug] Driver 0: pos -9619, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 21669, writes 11 timeouts 1
2025-04-29 06:05:57 [debug] Last sensors broadcast 0x00000000 found 0 131 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 102, 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 374, adv 36085/37125
2025-04-29 06:05:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10467, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:05:57 [info] currentZPosition:0.00875
2025-04-29 06:05:58 [debug] Stopped at height 0.010 mm
2025-04-29 06:05:59 [debug] Stopped at height 0.011 mm
2025-04-29 06:05:59 [debug] Diagnostics for board 50:
2025-04-29 06:05:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:05:59 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.2%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:53:50 ago, cause: software
2025-04-29 06:05:59 [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
2025-04-29 06:05:59 [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
2025-04-29 06:05:59 [debug] Moves scheduled 27989, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=617, frequency (Hz): min=1521, max=15625
Sync err accum 95, peak jitter 0/2, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1668943448 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 06:05:59 [debug] Driver 0: pos -9599, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 19509, writes 0 timeouts 0
2025-04-29 06:05:59 [debug] Last sensors broadcast 0x00000000 found 0 21 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 92, 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 531, adv 36011/37124
2025-04-29 06:05:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10357, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2268
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:05:59 [info] currentZPosition:0.0107
2025-04-29 06:06:00 [debug] Stopped at height 0.010 mm
2025-04-29 06:06:00 [debug] Diagnostics for board 50:
2025-04-29 06:06:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:06:00 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:53:52 ago, cause: software
2025-04-29 06:06:00 [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
2025-04-29 06:06:00 [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
2025-04-29 06:06:00 [debug] Moves scheduled 27993, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=772, frequency (Hz): min=1037, max=15306
Sync err accum 99, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1667836979 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max
2025-04-29 06:06:00 [debug] Driver 0: pos -9608, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17399, writes 0 timeouts 0
2025-04-29 06:06:00 [debug] Last sensors broadcast 0x00000000 found 0 248 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 88, 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 406, adv 35885/37118
2025-04-29 06:06:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10426, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:06:01 [info] currentZPosition:0.00984
2025-04-29 06:06:02 [debug] Stopped at height 0.010 mm
2025-04-29 06:06:02 [debug] Diagnostics for board 50:
2025-04-29 06:06:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:06:02 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:53:53 ago, cause: software
2025-04-29 06:06:02 [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
2025-04-29 06:06:02 [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
2025-04-29 06:06:02 [debug] Moves scheduled 27997, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 290, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=558, frequency (Hz): min=1582, max=15625
Sync err accum 101, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 1666814318 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:06:02 [debug] Driver 0: pos -9604, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16050, writes 0 timeouts 0
2025-04-29 06:06:02 [debug] Last sensors broadcast 0x00000000 found 0 111 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 83, 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 405, adv 36196/37172
2025-04-29 06:06:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10424, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:06:02 [info] currentZPosition:0.0102
2025-04-29 06:06:03 [debug] Stopped at height 0.009 mm
2025-04-29 06:06:03 [debug] Diagnostics for board 50:
2025-04-29 06:06:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:06:03 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:53:55 ago, cause: software
2025-04-29 06:06:03 [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
2025-04-29 06:06:03 [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
2025-04-29 06:06:03 [debug] Moves scheduled 28001, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=781, frequency (Hz): min=1215, max=15306
Sync err accum 98, peak jitter -1/1, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1665704289 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max
2025-04-29 06:06:03 [debug] Driver 0: pos -9612, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17363, writes 0 timeouts 0
2025-04-29 06:06:03 [debug] Last sensors broadcast 0x00000000 found 0 93 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 97, 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 369, adv 35768/37124
2025-04-29 06:06:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10420, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:06:03 [info] currentZPosition:0.00944
2025-04-29 06:06:05 [debug] Stopped at height 0.010 mm
2025-04-29 06:06:05 [debug] Diagnostics for board 50:
2025-04-29 06:06:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:06:05 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,21.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:53:56 ago, cause: software
2025-04-29 06:06:05 [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
2025-04-29 06:06:05 [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
2025-04-29 06:06:05 [debug] Moves scheduled 28005, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 161, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=564, frequency (Hz): min=1439, max=15625
Sync err accum 94, peak jitter -1/0, peak Rx delay 186, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1664680217 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max
2025-04-29 06:06:05 [debug] Driver 0: pos -9607, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15848, writes 11 timeouts 1
2025-04-29 06:06:05 [debug] Last sensors broadcast 0x00000000 found 0 207 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 81, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36264/37149
2025-04-29 06:06:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10429, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:06:05 [info] currentZPosition:0.0100
2025-04-29 06:06:06 [debug] Stopped at height 0.009 mm
2025-04-29 06:06:06 [debug] Diagnostics for board 50:
2025-04-29 06:06:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:06:06 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:53:57 ago, cause: software
2025-04-29 06:06:06 [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
2025-04-29 06:06:06 [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
2025-04-29 06:06:06 [debug] Moves scheduled 28009, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 164, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=544, frequency (Hz): min=622, max=15306
Sync err accum 82, peak jitter -2/-1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1663576516 ticks, 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
2025-04-29 06:06:06 [debug] Driver 0: pos -9616, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17304, writes 0 timeouts 0
2025-04-29 06:06:06 [debug] Last sensors broadcast 0x00000000 found 0 177 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 92, 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 475, adv 35579/37082
2025-04-29 06:06:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2280
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10433, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:06:06 [info] currentZPosition:0.00914
2025-04-29 06:06:07 [debug] Stopped at height 0.010 mm
2025-04-29 06:06:07 [debug] Diagnostics for board 50:
2025-04-29 06:06:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:06:07 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:53:59 ago, cause: software
2025-04-29 06:06:07 [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
2025-04-29 06:06:07 [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
2025-04-29 06:06:07 [debug] Moves scheduled 28013, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=520, frequency (Hz): min=1464, max=15306
Sync err accum 69, peak jitter -3/-1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 1662552471 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 06:06:07 [debug] Driver 0: pos -9608, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15954, writes 0 timeouts 0
2025-04-29 06:06:07 [debug] Last sensors broadcast 0x00000000 found 0 44 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 95, 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 430, adv 35654/37091
2025-04-29 06:06:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10448, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:06:08 [info] currentZPosition:0.00994
2025-04-29 06:06:09 [debug] Stopped at height 0.010 mm
2025-04-29 06:06:09 [debug] Diagnostics for board 50:
2025-04-29 06:06:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:06:09 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:54:00 ago, cause: software
2025-04-29 06:06:09 [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
2025-04-29 06:06:09 [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
2025-04-29 06:06:09 [debug] Moves scheduled 28017, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=520, frequency (Hz): min=613, max=15306
Sync err accum 61, peak jitter -3/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 1661459583 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:06:09 [debug] Driver 0: pos -9610, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17119, writes 11 timeouts 1
2025-04-29 06:06:09 [debug] Last sensors broadcast 0x00000000 found 0 1 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 82, 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 364, adv 36247/37107
2025-04-29 06:06:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10436, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2279
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:06:09 [info] currentZPosition:0.00974
2025-04-29 06:06:10 [debug] Stopped at height 0.011 mm
2025-04-29 06:06:10 [debug] Diagnostics for board 50:
2025-04-29 06:06:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:06:10 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:54:02 ago, cause: software
2025-04-29 06:06:10 [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
2025-04-29 06:06:10 [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
2025-04-29 06:06:10 [debug] Moves scheduled 28021, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 430, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=797, frequency (Hz): min=1138, max=15306
Sync err accum 77, peak jitter 1/4, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 1660460200 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:06:10 [debug] Driver 0: pos -9595, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15709, writes 0 timeouts 0
2025-04-29 06:06:10 [debug] Last sensors broadcast 0x00000000 found 0 82 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 79, 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 436, adv 35740/37108
2025-04-29 06:06:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10369, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2267
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:06:10 [info] currentZPosition:0.0112
2025-04-29 06:06:11 [debug] Stopped at height 0.011 mm
2025-04-29 06:06:12 [debug] Stopped at height 0.010 mm
2025-04-29 06:06:12 [debug] Diagnostics for board 50:
2025-04-29 06:06:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:06:12 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:54:03 ago, cause: software
2025-04-29 06:06:12 [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
2025-04-29 06:06:12 [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
2025-04-29 06:06:12 [debug] Moves scheduled 28027, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=506, frequency (Hz): min=1569, max=15306
Sync err accum 91, peak jitter 1/3, peak Rx delay 186, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1659124002 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 06:06:12 [debug] Driver 0: pos -9604, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 21308, writes 0 timeouts 0
2025-04-29 06:06:12 [debug] Last sensors broadcast 0x00000000 found 0 114 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 91, 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 484, adv 36039/37157
2025-04-29 06:06:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10403, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:06:12 [info] currentZPosition:0.0103
2025-04-29 06:06:13 [debug] Stopped at height 0.010 mm
2025-04-29 06:06:13 [debug] Diagnostics for board 50:
2025-04-29 06:06:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:06:13 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:54:05 ago, cause: software
2025-04-29 06:06:13 [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
2025-04-29 06:06:13 [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
2025-04-29 06:06:13 [debug] Moves scheduled 28031, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=540, frequency (Hz): min=1546, max=15306
Sync err accum 101, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1658081471 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max
2025-04-29 06:06:13 [debug] Driver 0: pos -9610, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16366, writes 0 timeouts 0
2025-04-29 06:06:13 [debug] Last sensors broadcast 0x00000000 found 0 5 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 87, 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 386, adv 35940/37121
2025-04-29 06:06:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10452, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:06:14 [info] currentZPosition:0.00974
2025-04-29 06:06:15 [debug] Stopped at height 0.011 mm
2025-04-29 06:06:15 [debug] Diagnostics for board 50:
2025-04-29 06:06:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:06:15 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:54:06 ago, cause: software
2025-04-29 06:06:15 [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
2025-04-29 06:06:15 [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
2025-04-29 06:06:15 [debug] Moves scheduled 28035, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=530, frequency (Hz): min=793, max=30000
Sync err accum 105, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1657019422 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 06:06:15 [debug] Driver 0: pos -9598, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16661, writes 11 timeouts 1
2025-04-29 06:06:15 [debug] Last sensors broadcast 0x00000000 found 0 170 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 82, 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 385, adv 35855/37117
2025-04-29 06:06:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10350, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:06:15 [info] currentZPosition:0.0110
2025-04-29 06:06:15 [debug] Stopped at height 0.010 mm
2025-04-29 06:06:17 [debug] Stopped at height 0.010 mm
2025-04-29 06:06:17 [debug] Diagnostics for board 50:
2025-04-29 06:06:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:06:17 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:54:08 ago, cause: software
2025-04-29 06:06:17 [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
2025-04-29 06:06:17 [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
2025-04-29 06:06:17 [debug] Moves scheduled 28041, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=550, frequency (Hz): min=679, max=15625
Sync err accum 108, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 1655729826 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:06:17 [debug] Driver 0: pos -9611, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20343, writes 11 timeouts 1
2025-04-29 06:06:17 [debug] Last sensors broadcast 0x00000000 found 0 142 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 105, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36032/37121
2025-04-29 06:06:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10409, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:06:17 [info] currentZPosition:0.00974
2025-04-29 06:06:18 [debug] Stopped at height 0.010 mm
2025-04-29 06:06:18 [debug] Diagnostics for board 50:
2025-04-29 06:06:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:06:18 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.2%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:54:09 ago, cause: software
2025-04-29 06:06:18 [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
2025-04-29 06:06:18 [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
2025-04-29 06:06:18 [debug] Moves scheduled 28045, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 164, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=685, frequency (Hz): min=1264, max=15625
Sync err accum 103, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1654648665 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatu
2025-04-29 06:06:18 [debug] Driver 0: pos -9607, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16911, writes 0 timeouts 0
2025-04-29 06:06:18 [debug] Last sensors broadcast 0x00000000 found 0 81 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 93, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 35723/37080
2025-04-29 06:06:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10437, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:06:18 [info] currentZPosition:0.0101
2025-04-29 06:06:19 [debug] Stopped at height 0.010 mm
2025-04-29 06:06:19 [debug] Diagnostics for board 50:
2025-04-29 06:06:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:06:19 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.2%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.2%
Owned mutexes:
Last reset 16:54:11 ago, cause: software
2025-04-29 06:06:19 [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
2025-04-29 06:06:19 [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
2025-04-29 06:06:19 [debug] Moves scheduled 28049, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=621, frequency (Hz): min=1453, max=15306
Sync err accum 96, peak jitter -2/0, peak Rx delay 204, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1653609653 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max
2025-04-29 06:06:19 [debug] Driver 0: pos -9612, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16256, writes 0 timeouts 0
2025-04-29 06:06:19 [debug] Last sensors broadcast 0x00000000 found 0 219 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 91, 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 409, adv 36171/37111
2025-04-29 06:06:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10456, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:06:20 [info] currentZPosition:0.00964
2025-04-29 06:06:21 [debug] Stopped at height 0.010 mm
2025-04-29 06:06:21 [debug] Diagnostics for board 50:
2025-04-29 06:06:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:06:21 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:54:12 ago, cause: software
2025-04-29 06:06:21 [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
2025-04-29 06:06:21 [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
2025-04-29 06:06:21 [debug] Moves scheduled 28053, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=757, frequency (Hz): min=554, max=15957
Sync err accum 84, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 1652529035 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:06:21 [debug] Driver 0: pos -9606, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16921, writes 11 timeouts 1
2025-04-29 06:06:21 [debug] Last sensors broadcast 0x00000000 found 0 158 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 88, 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 528, adv 36365/37167
2025-04-29 06:06:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10412, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:06:21 [info] currentZPosition:0.0102
2025-04-29 06:06:22 [debug] Stopped at height 0.010 mm
2025-04-29 06:06:22 [debug] Diagnostics for board 50:
2025-04-29 06:06:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:06:22 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.8%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:54:14 ago, cause: software
2025-04-29 06:06:22 [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
2025-04-29 06:06:22 [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
2025-04-29 06:06:22 [debug] Moves scheduled 28057, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 389, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=552, frequency (Hz): min=1447, max=15306
Sync err accum 74, peak jitter -2/-1, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1651493026 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, ma
2025-04-29 06:06:22 [debug] Driver 0: pos -9609, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16252, writes 0 timeouts 0
2025-04-29 06:06:22 [debug] Last sensors broadcast 0x00000000 found 0 39 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 93, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36280/37157
2025-04-29 06:06:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10438, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:06:22 [info] currentZPosition:0.00994
2025-04-29 06:06:24 [debug] Stopped at height 0.009 mm
2025-04-29 06:06:24 [debug] Diagnostics for board 50:
2025-04-29 06:06:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:06:24 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:54:15 ago, cause: software
2025-04-29 06:06:24 [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
2025-04-29 06:06:24 [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
2025-04-29 06:06:24 [debug] Moves scheduled 28061, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=676, frequency (Hz): min=1396, max=15306
Sync err accum 59, peak jitter -4/0, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1650396225 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:06:24 [debug] Driver 0: pos -9615, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17158, writes 0 timeouts 0
2025-04-29 06:06:24 [debug] Last sensors broadcast 0x00000000 found 0 7 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 95, 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 366, adv 36162/37129
2025-04-29 06:06:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2279
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10420, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:06:24 [info] currentZPosition:0.00934
2025-04-29 06:06:25 [debug] Stopped at height 0.010 mm
2025-04-29 06:06:25 [debug] Diagnostics for board 50:
2025-04-29 06:06:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:06:25 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.4%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.8%
Owned mutexes:
Last reset 16:54:16 ago, cause: software
2025-04-29 06:06:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:06:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:06:25 [debug] Moves scheduled 28065, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=624, frequency (Hz): min=578, max=15306
Sync err accum 73, peak jitter 1/3, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1649386908 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 3
2025-04-29 06:06:25 [debug] Driver 0: pos -9606, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15731, writes 11 timeouts 1
2025-04-29 06:06:25 [debug] Last sensors broadcast 0x00000000 found 0 98 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 85, 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 478, adv 35614/37132
2025-04-29 06:06:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10397, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:06:25 [info] currentZPosition:0.0102
2025-04-29 06:06:26 [debug] Stopped at height 0.010 mm
2025-04-29 06:06:26 [debug] Diagnostics for board 50:
2025-04-29 06:06:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:06:26 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:54:18 ago, cause: software
2025-04-29 06:06:26 [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
2025-04-29 06:06:26 [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
2025-04-29 06:06:26 [debug] Moves scheduled 28069, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 327, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=409, frequency (Hz): min=1637, max=15306
Sync err accum 84, peak jitter 1/3, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1648303261 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:06:26 [debug] Driver 0: pos -9606, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16996, writes 0 timeouts 0
2025-04-29 06:06:26 [debug] Last sensors broadcast 0x00000000 found 0 42 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 89, 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 444, adv 36037/37121
2025-04-29 06:06:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10433, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:06:27 [info] currentZPosition:0.0103
2025-04-29 06:06:28 [debug] Stopped at height 0.007 mm
2025-04-29 06:06:28 [debug] Diagnostics for board 50:
2025-04-29 06:06:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:06:28 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:54:19 ago, cause: software
2025-04-29 06:06:28 [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
2025-04-29 06:06:28 [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
2025-04-29 06:06:28 [debug] Moves scheduled 28073, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 160, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=688, frequency (Hz): min=1348, max=15625
Sync err accum 93, peak jitter 1/2, peak Rx delay 186, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1647215109 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 06:06:28 [debug] Driver 0: pos -9636, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16988, writes 0 timeouts 0
2025-04-29 06:06:28 [debug] Last sensors broadcast 0x00000000 found 0 248 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 110, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 35817/37134
2025-04-29 06:06:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10574, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4697, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:06:28 [info] currentZPosition:0.00736
2025-04-29 06:06:28 [debug] Stopped at height 0.007 mm
2025-04-29 06:06:30 [debug] Stopped at height 0.011 mm
2025-04-29 06:06:30 [debug] Diagnostics for board 50:
2025-04-29 06:06:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:06:30 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.1%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:54:21 ago, cause: software
2025-04-29 06:06:30 [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
2025-04-29 06:06:30 [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
2025-04-29 06:06:30 [debug] Moves scheduled 28079, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=482, frequency (Hz): min=1533, max=15625
Sync err accum 98, peak jitter 0/2, peak Rx delay 186, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1645957774 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 06:06:30 [debug] Driver 0: pos -9598, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 19767, writes 0 timeouts 0
2025-04-29 06:06:30 [debug] Last sensors broadcast 0x00000000 found 0 170 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 95, 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 435, adv 35879/37121
2025-04-29 06:06:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10367, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2268
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:06:30 [info] currentZPosition:0.0111
2025-04-29 06:06:30 [debug] Stopped at height 0.010 mm
2025-04-29 06:06:31 [debug] Stopped at height 0.010 mm
2025-04-29 06:06:31 [debug] Diagnostics for board 50:
2025-04-29 06:06:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:06:31 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.0%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:54:23 ago, cause: software
2025-04-29 06:06:31 [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
2025-04-29 06:06:31 [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
2025-04-29 06:06:31 [debug] Moves scheduled 28085, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 336, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=730, frequency (Hz): min=1247, max=15306
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 1644667151 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:06:31 [debug] Driver 0: pos -9609, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20438, writes 0 timeouts 0
2025-04-29 06:06:31 [debug] Last sensors broadcast 0x00000000 found 0 142 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 99, 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 402, adv 35923/37161
2025-04-29 06:06:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2279
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10429, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:06:31 [info] currentZPosition:0.0101
2025-04-29 06:06:33 [debug] Stopped at height 0.011 mm
2025-04-29 06:06:33 [debug] Diagnostics for board 50:
2025-04-29 06:06:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:06:33 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:54:24 ago, cause: software
2025-04-29 06:06:33 [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
2025-04-29 06:06:33 [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
2025-04-29 06:06:33 [debug] Moves scheduled 28089, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 388, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=518, frequency (Hz): min=1476, max=15625
Sync err accum 92, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1643591048 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max
2025-04-29 06:06:33 [debug] Driver 0: pos -9602, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16942, writes 0 timeouts 0
2025-04-29 06:06:33 [debug] Last sensors broadcast 0x00000000 found 0 77 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 87, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 354, adv 35710/37126
2025-04-29 06:06:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10402, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:06:33 [info] currentZPosition:0.0108
2025-04-29 06:06:34 [debug] Stopped at height 0.011 mm
2025-04-29 06:06:34 [debug] Diagnostics for board 50:
2025-04-29 06:06:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:06:34 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.7%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:54:25 ago, cause: software
2025-04-29 06:06:34 [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
2025-04-29 06:06:34 [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
2025-04-29 06:06:34 [debug] Moves scheduled 28093, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 683, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=505, frequency (Hz): min=1648, max=15306
Sync err accum 81, peak jitter -2/-1, peak Rx delay 185, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1642564122 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, ma
2025-04-29 06:06:34 [debug] Driver 0: pos -9599, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16140, writes 0 timeouts 0
2025-04-29 06:06:34 [debug] Last sensors broadcast 0x00000000 found 0 195 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 83, 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 422, adv 35975/37067
2025-04-29 06:06:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10356, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:06:34 [info] currentZPosition:0.0111
2025-04-29 06:06:36 [debug] Stopped at height 0.011 mm
2025-04-29 06:06:36 [debug] Diagnostics for board 50:
2025-04-29 06:06:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:06:36 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:54:27 ago, cause: software
2025-04-29 06:06:36 [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
2025-04-29 06:06:36 [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
2025-04-29 06:06:36 [debug] Moves scheduled 28097, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 188, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=484, frequency (Hz): min=1442, max=15306
Sync err accum 69, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1641481918 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, ma
2025-04-29 06:06:36 [debug] Driver 0: pos -9600, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17142, writes 0 timeouts 0
2025-04-29 06:06:36 [debug] Last sensors broadcast 0x00000000 found 0 136 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 81, 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 377, adv 36287/37105
2025-04-29 06:06:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10411, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:06:36 [info] currentZPosition:0.0110
2025-04-29 06:06:37 [debug] Stopped at height 0.010 mm
2025-04-29 06:06:37 [debug] Diagnostics for board 50:
2025-04-29 06:06:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:06:37 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:54:28 ago, cause: software
2025-04-29 06:06:37 [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
2025-04-29 06:06:37 [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
2025-04-29 06:06:37 [debug] Moves scheduled 28101, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=589, frequency (Hz): min=1425, max=15306
Sync err accum 61, peak jitter -3/0, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1640433704 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:06:37 [debug] Driver 0: pos -9611, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16505, writes 0 timeouts 0
2025-04-29 06:06:37 [debug] Last sensors broadcast 0x00000000 found 0 37 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 91, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36080/37148
2025-04-29 06:06:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10446, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:06:37 [info] currentZPosition:0.00994
2025-04-29 06:06:38 [debug] Stopped at height 0.010 mm
2025-04-29 06:06:38 [debug] Diagnostics for board 50:
2025-04-29 06:06:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:06:38 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:54:30 ago, cause: software
2025-04-29 06:06:38 [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
2025-04-29 06:06:38 [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
2025-04-29 06:06:38 [debug] Moves scheduled 28105, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=665, frequency (Hz): min=1423, max=15306
Sync err accum 73, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1639348905 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:06:38 [debug] Driver 0: pos -9608, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17043, writes 0 timeouts 0
2025-04-29 06:06:38 [debug] Last sensors broadcast 0x00000000 found 0 233 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 84, 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 385, adv 36170/37113
2025-04-29 06:06:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10421, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:06:39 [info] currentZPosition:0.0102
2025-04-29 06:06:40 [debug] Stopped at height 0.010 mm
2025-04-29 06:06:40 [debug] Diagnostics for board 50:
2025-04-29 06:06:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:06:40 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.4%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:54:31 ago, cause: software
2025-04-29 06:06:40 [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
2025-04-29 06:06:40 [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
2025-04-29 06:06:40 [debug] Moves scheduled 28109, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=590, frequency (Hz): min=886, max=15306
Sync err accum 83, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1638309169 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, curr
2025-04-29 06:06:40 [debug] Driver 0: pos -9612, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16203, writes 11 timeouts 1
2025-04-29 06:06:40 [debug] Last sensors broadcast 0x00000000 found 0 117 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 86, 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 364, adv 36265/37093
2025-04-29 06:06:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10432, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2281
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:06:40 [info] currentZPosition:0.00984
2025-04-29 06:06:41 [debug] Stopped at height 0.012 mm
2025-04-29 06:06:41 [debug] Diagnostics for board 50:
2025-04-29 06:06:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:06:41 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:54:33 ago, cause: software
2025-04-29 06:06:41 [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
2025-04-29 06:06:41 [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
2025-04-29 06:06:41 [debug] Moves scheduled 28113, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=634, frequency (Hz): min=1269, max=15306
Sync err accum 85, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1637256826 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 06:06:41 [debug] Driver 0: pos -9593, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16566, writes 0 timeouts 0
2025-04-29 06:06:41 [debug] Last sensors broadcast 0x00000000 found 0 22 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 84, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36056/37118
2025-04-29 06:06:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10319, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:06:41 [info] currentZPosition:0.0117
2025-04-29 06:06:42 [debug] Stopped at height 0.011 mm
2025-04-29 06:06:43 [debug] Stopped at height 0.010 mm
2025-04-29 06:06:43 [debug] Diagnostics for board 50:
2025-04-29 06:06:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:06:43 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.2%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:54:34 ago, cause: software
2025-04-29 06:06:43 [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
2025-04-29 06:06:43 [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
2025-04-29 06:06:43 [debug] Moves scheduled 28119, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=565, frequency (Hz): min=1599, max=15306
Sync err accum 84, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1635955726 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max
2025-04-29 06:06:43 [debug] Driver 0: pos -9612, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20593, writes 0 timeouts 0
2025-04-29 06:06:43 [debug] Last sensors broadcast 0x00000000 found 0 7 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 102, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36343/37125
2025-04-29 06:06:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2279
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10430, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:06:43 [info] currentZPosition:0.00984
2025-04-29 06:06:44 [debug] Stopped at height 0.011 mm
2025-04-29 06:06:44 [debug] Diagnostics for board 50:
2025-04-29 06:06:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:06:44 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:54:36 ago, cause: software
2025-04-29 06:06:44 [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
2025-04-29 06:06:44 [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
2025-04-29 06:06:44 [debug] Moves scheduled 28123, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=500, frequency (Hz): min=1693, max=15306
Sync err accum 82, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 1634881481 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:06:44 [debug] Driver 0: pos -9604, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16810, writes 0 timeouts 0
2025-04-29 06:06:44 [debug] Last sensors broadcast 0x00000000 found 0 187 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 85, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 35880/37130
2025-04-29 06:06:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10410, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:06:44 [info] currentZPosition:0.0106
2025-04-29 06:06:46 [debug] Stopped at height 0.011 mm
2025-04-29 06:06:46 [debug] Diagnostics for board 50:
2025-04-29 06:06:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:06:46 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:54:37 ago, cause: software
2025-04-29 06:06:46 [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
2025-04-29 06:06:46 [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
2025-04-29 06:06:46 [debug] Moves scheduled 28127, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=722, frequency (Hz): min=1260, max=15306
Sync err accum 75, peak jitter -2/0, peak Rx delay 185, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1633864567 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max
2025-04-29 06:06:46 [debug] Driver 0: pos -9596, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15965, writes 0 timeouts 0
2025-04-29 06:06:46 [debug] Last sensors broadcast 0x00000000 found 0 47 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 83, 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 343, adv 35914/37128
2025-04-29 06:06:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10375, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2268
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:06:46 [info] currentZPosition:0.0114
2025-04-29 06:06:47 [debug] Stopped at height 0.010 mm
2025-04-29 06:06:47 [debug] Diagnostics for board 50:
2025-04-29 06:06:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:06:47 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:54:38 ago, cause: software
2025-04-29 06:06:47 [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
2025-04-29 06:06:47 [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
2025-04-29 06:06:47 [debug] Moves scheduled 28131, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=522, frequency (Hz): min=1439, max=15306
Sync err accum 65, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 1632764384 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 06:06:47 [debug] Driver 0: pos -9606, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17341, writes 0 timeouts 0
2025-04-29 06:06:47 [debug] Last sensors broadcast 0x00000000 found 0 11 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 82, 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 385, adv 35727/37138
2025-04-29 06:06:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10436, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:06:47 [info] currentZPosition:0.0104
2025-04-29 06:06:49 [debug] Stopped at height 0.012 mm
2025-04-29 06:06:49 [debug] Diagnostics for board 50:
2025-04-29 06:06:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:06:49 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:54:40 ago, cause: software
2025-04-29 06:06:49 [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
2025-04-29 06:06:49 [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
2025-04-29 06:06:49 [debug] Moves scheduled 28135, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 161, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=545, frequency (Hz): min=847, max=15306
Sync err accum 66, peak jitter -2/2, peak Rx delay 203, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1631751162 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 06:06:49 [debug] Driver 0: pos -9593, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15966, writes 11 timeouts 1
2025-04-29 06:06:49 [debug] Last sensors broadcast 0x00000000 found 0 115 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 81, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36189/37080
2025-04-29 06:06:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2266
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10340, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:06:49 [info] currentZPosition:0.0117
2025-04-29 06:06:49 [debug] Stopped at height 0.011 mm
2025-04-29 06:06:50 [debug] Stopped at height 0.010 mm
2025-04-29 06:06:50 [debug] Diagnostics for board 50:
2025-04-29 06:06:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:06:50 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.6%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:54:42 ago, cause: software
2025-04-29 06:06:50 [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
2025-04-29 06:06:50 [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
2025-04-29 06:06:50 [debug] Moves scheduled 28141, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=484, frequency (Hz): min=1491, max=15306
Sync err accum 76, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1630407990 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 06:06:50 [debug] Driver 0: pos -9606, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 21381, writes 0 timeouts 0
2025-04-29 06:06:50 [debug] Last sensors broadcast 0x00000000 found 0 152 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 89, 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 449, adv 36229/37154
2025-04-29 06:06:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10395, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:06:50 [info] currentZPosition:0.0104
2025-04-29 06:06:52 [debug] Stopped at height 0.011 mm
2025-04-29 06:06:52 [debug] Diagnostics for board 50:
2025-04-29 06:06:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:06:52 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:54:43 ago, cause: software
2025-04-29 06:06:52 [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
2025-04-29 06:06:52 [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
2025-04-29 06:06:52 [debug] Moves scheduled 28145, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=440, frequency (Hz): min=1609, max=15625
Sync err accum 79, peak jitter 0/1, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 1629386386 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:06:52 [debug] Driver 0: pos -9602, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16147, writes 0 timeouts 0
2025-04-29 06:06:52 [debug] Last sensors broadcast 0x00000000 found 0 15 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 81, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 398, adv 36247/37119
2025-04-29 06:06:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10415, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:06:52 [info] currentZPosition:0.0108
2025-04-29 06:06:53 [debug] Stopped at height 0.012 mm
2025-04-29 06:06:53 [debug] Diagnostics for board 50:
2025-04-29 06:06:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:06:53 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:54:44 ago, cause: software
2025-04-29 06:06:53 [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
2025-04-29 06:06:53 [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
2025-04-29 06:06:53 [debug] Moves scheduled 28149, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=653, frequency (Hz): min=1311, max=15306
Sync err accum 78, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1628320056 ticks, 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
2025-04-29 06:06:53 [debug] Driver 0: pos -9594, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16895, writes 0 timeouts 0
2025-04-29 06:06:53 [debug] Last sensors broadcast 0x00000000 found 0 186 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 79, 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 378, adv 36220/37103
2025-04-29 06:06:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2268
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10330, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:06:53 [info] currentZPosition:0.0116
2025-04-29 06:06:55 [debug] Stopped at height 0.009 mm
2025-04-29 06:06:55 [debug] Diagnostics for board 50:
2025-04-29 06:06:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:06:55 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:54:46 ago, cause: software
2025-04-29 06:06:55 [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
2025-04-29 06:06:55 [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
2025-04-29 06:06:55 [debug] Moves scheduled 28153, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=564, frequency (Hz): min=653, max=15306
Sync err accum 71, peak jitter -2/0, peak Rx delay 193, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 1627238068 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:06:55 [debug] Driver 0: pos -9622, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17021, writes 11 timeouts 1
2025-04-29 06:06:55 [debug] Last sensors broadcast 0x00000000 found 0 130 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 97, 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 369, adv 35718/37125
2025-04-29 06:06:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2279
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10453, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:06:55 [info] currentZPosition:0.00885
2025-04-29 06:06:55 [debug] Stopped at height 0.008 mm
2025-04-29 06:06:56 [debug] Stopped at height 0.012 mm
2025-04-29 06:06:56 [debug] Diagnostics for board 50:
2025-04-29 06:06:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:06:56 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:54:48 ago, cause: software
2025-04-29 06:06:56 [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
2025-04-29 06:06:56 [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
2025-04-29 06:06:56 [debug] Moves scheduled 28159, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=450, frequency (Hz): min=1221, max=15306
Sync err accum 61, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1625974339 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 06:06:56 [debug] Driver 0: pos -9595, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20061, writes 0 timeouts 0
2025-04-29 06:06:56 [debug] Last sensors broadcast 0x00000000 found 0 64 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 93, 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 408, adv 36037/37100
2025-04-29 06:06:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10330, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4697, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:06:56 [info] currentZPosition:0.0117
2025-04-29 06:06:57 [debug] Stopped at height 0.010 mm
2025-04-29 06:06:58 [debug] Stopped at height 0.011 mm
2025-04-29 06:06:58 [debug] Diagnostics for board 50:
2025-04-29 06:06:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:06:58 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.1%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:54:49 ago, cause: software
2025-04-29 06:06:58 [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
2025-04-29 06:06:58 [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
2025-04-29 06:06:58 [debug] Moves scheduled 28165, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=633, frequency (Hz): min=1247, max=15306
Sync err accum 72, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 0 ticks, disabled, next step interrupt due in 1624682042 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:06:58 [debug] Driver 0: pos -9602, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20458, writes 0 timeouts 0
2025-04-29 06:06:58 [debug] Last sensors broadcast 0x00000000 found 0 36 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 103, 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 352, adv 35791/37123
2025-04-29 06:06:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10388, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4695, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:06:58 [info] currentZPosition:0.0110
2025-04-29 06:06:59 [debug] Stopped at height 0.009 mm
2025-04-29 06:06:59 [debug] Diagnostics for board 50:
2025-04-29 06:06:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:06:59 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:54:51 ago, cause: software
2025-04-29 06:06:59 [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
2025-04-29 06:06:59 [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
2025-04-29 06:06:59 [debug] Moves scheduled 28169, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=640, frequency (Hz): min=1221, max=15306
Sync err accum 83, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1623567183 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:06:59 [debug] Driver 0: pos -9618, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17591, writes 0 timeouts 0
2025-04-29 06:06:59 [debug] Last sensors broadcast 0x00000000 found 0 24 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 101, 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 387, adv 35917/37086
2025-04-29 06:06:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10428, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4708, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:07:00 [info] currentZPosition:0.00944
2025-04-29 06:07:00 [debug] Stopped at height 0.010 mm
2025-04-29 06:07:01 [debug] Stopped at height 0.012 mm
2025-04-29 06:07:01 [debug] Diagnostics for board 50:
2025-04-29 06:07:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:07:01 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.2%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:54:52 ago, cause: software
2025-04-29 06:07:01 [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
2025-04-29 06:07:01 [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
2025-04-29 06:07:01 [debug] Moves scheduled 28175, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=710, frequency (Hz): min=1243, max=15306
Sync err accum 87, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1622186351 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:07:01 [debug] Driver 0: pos -9595, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 23560, writes 0 timeouts 0
2025-04-29 06:07:01 [debug] Last sensors broadcast 0x00000000 found 0 110 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 116, 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 380, adv 35869/37156
2025-04-29 06:07:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10323, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:07:02 [info] currentZPosition:0.0117
2025-04-29 06:07:03 [debug] Stopped at height 0.010 mm
2025-04-29 06:07:04 [debug] Stopped at height 0.011 mm
2025-04-29 06:07:04 [debug] Diagnostics for board 50:
2025-04-29 06:07:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:07:04 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,3.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:54:55 ago, cause: software
2025-04-29 06:07:04 [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
2025-04-29 06:07:04 [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
2025-04-29 06:07:04 [debug] Moves scheduled 28181, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=633, frequency (Hz): min=1412, max=15306
Sync err accum 80, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1620028326 ticks, 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
2025-04-29 06:07:04 [debug] Driver 0: pos -9606, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 33328, writes 0 timeouts 0
2025-04-29 06:07:04 [debug] Last sensors broadcast 0x00000000 found 0 241 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 135, 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 376, adv 35716/37170
2025-04-29 06:07:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10434, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:07:04 [info] currentZPosition:0.0106
2025-04-29 06:07:06 [debug] Stopped at height 0.011 mm
2025-04-29 06:07:06 [debug] Diagnostics for board 50:
2025-04-29 06:07:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:07:06 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:54:57 ago, cause: software
2025-04-29 06:07:06 [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
2025-04-29 06:07:06 [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
2025-04-29 06:07:06 [debug] Moves scheduled 28185, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 334, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=594, frequency (Hz): min=1578, max=15306
Sync err accum 71, peak jitter -2/0, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1619009844 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:07:06 [debug] Driver 0: pos -9599, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16053, writes 0 timeouts 0
2025-04-29 06:07:06 [debug] Last sensors broadcast 0x00000000 found 0 101 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 83, 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 387, adv 35913/37082
2025-04-29 06:07:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10381, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:07:06 [info] currentZPosition:0.0113
2025-04-29 06:07:07 [debug] Stopped at height 0.010 mm
2025-04-29 06:07:07 [debug] Diagnostics for board 50:
2025-04-29 06:07:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:07:07 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:54:58 ago, cause: software
2025-04-29 06:07:07 [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
2025-04-29 06:07:07 [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
2025-04-29 06:07:07 [debug] Moves scheduled 28189, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=524, frequency (Hz): min=1562, max=15306
Sync err accum 62, peak jitter -3/0, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1617914010 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:07:07 [debug] Driver 0: pos -9608, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17287, writes 0 timeouts 0
2025-04-29 06:07:07 [debug] Last sensors broadcast 0x00000000 found 0 61 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 87, 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 375, adv 36357/37110
2025-04-29 06:07:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10425, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:07:07 [info] currentZPosition:0.0104
2025-04-29 06:07:08 [debug] Stopped at height 0.011 mm
2025-04-29 06:07:08 [debug] Diagnostics for board 50:
2025-04-29 06:07:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:07:08 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.8%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:55:00 ago, cause: software
2025-04-29 06:07:08 [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
2025-04-29 06:07:08 [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
2025-04-29 06:07:08 [debug] Moves scheduled 28193, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 240, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=558, frequency (Hz): min=1329, max=15306
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 1616902669 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:07:08 [debug] Driver 0: pos -9598, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15890, writes 0 timeouts 0
2025-04-29 06:07:08 [debug] Last sensors broadcast 0x00000000 found 0 159 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 79, 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 501, adv 36069/37107
2025-04-29 06:07:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10362, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:07:08 [info] currentZPosition:0.0114
2025-04-29 06:07:10 [debug] Stopped at height 0.012 mm
2025-04-29 06:07:10 [debug] Diagnostics for board 50:
2025-04-29 06:07:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:07:10 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:55:01 ago, cause: software
2025-04-29 06:07:10 [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
2025-04-29 06:07:10 [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
2025-04-29 06:07:10 [debug] Moves scheduled 28197, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=553, frequency (Hz): min=1616, max=16666
Sync err accum 81, peak jitter 0/2, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1615829695 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 06:07:10 [debug] Driver 0: pos -9595, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16953, writes 0 timeouts 0
2025-04-29 06:07:10 [debug] Last sensors broadcast 0x00000000 found 0 92 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 82, 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 368, adv 36210/37157
2025-04-29 06:07:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2268
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10337, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:07:10 [info] currentZPosition:0.0117
2025-04-29 06:07:11 [debug] Stopped at height 0.011 mm
2025-04-29 06:07:11 [debug] Diagnostics for board 50:
2025-04-29 06:07:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:07:11 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:55:02 ago, cause: software
2025-04-29 06:07:11 [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
2025-04-29 06:07:11 [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
2025-04-29 06:07:11 [debug] Moves scheduled 28201, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=522, frequency (Hz): min=1485, max=15306
Sync err accum 84, peak jitter -1/1, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1614790939 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max
2025-04-29 06:07:11 [debug] Driver 0: pos -9600, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16352, writes 0 timeouts 0
2025-04-29 06:07:11 [debug] Last sensors broadcast 0x00000000 found 0 224 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 83, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36229/37124
2025-04-29 06:07:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10388, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:07:11 [info] currentZPosition:0.0112
2025-04-29 06:07:13 [debug] Stopped at height 0.011 mm
2025-04-29 06:07:13 [debug] Diagnostics for board 50:
2025-04-29 06:07:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:07:13 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:55:04 ago, cause: software
2025-04-29 06:07:13 [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
2025-04-29 06:07:13 [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
2025-04-29 06:07:13 [debug] Moves scheduled 28205, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=544, frequency (Hz): min=1386, max=15306
Sync err accum 82, peak jitter -1/1, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1613713226 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:07:13 [debug] Driver 0: pos -9598, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17049, writes 0 timeouts 0
2025-04-29 06:07:13 [debug] Last sensors broadcast 0x00000000 found 0 163 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 83, 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 516, adv 36107/37170
2025-04-29 06:07:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2268
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10340, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:07:13 [info] currentZPosition:0.0114
2025-04-29 06:07:14 [debug] Stopped at height 0.011 mm
2025-04-29 06:07:14 [debug] Diagnostics for board 50:
2025-04-29 06:07:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:07:14 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:55:05 ago, cause: software
2025-04-29 06:07:14 [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
2025-04-29 06:07:14 [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
2025-04-29 06:07:14 [debug] Moves scheduled 28209, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 309, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=638, frequency (Hz): min=1396, max=15625
Sync err accum 79, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1612664281 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max
2025-04-29 06:07:14 [debug] Driver 0: pos -9607, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16507, writes 0 timeouts 0
2025-04-29 06:07:14 [debug] Last sensors broadcast 0x00000000 found 0 61 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 86, 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 369, adv 36311/37109
2025-04-29 06:07:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10416, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:07:14 [info] currentZPosition:0.0105
2025-04-29 06:07:15 [debug] Stopped at height 0.010 mm
2025-04-29 06:07:15 [debug] Diagnostics for board 50:
2025-04-29 06:07:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:07:15 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:55:07 ago, cause: software
2025-04-29 06:07:15 [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
2025-04-29 06:07:15 [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
2025-04-29 06:07:15 [debug] Moves scheduled 28213, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 165, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=730, frequency (Hz): min=1282, max=15625
Sync err accum 69, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1611581981 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, ma
2025-04-29 06:07:15 [debug] Driver 0: pos -9609, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17035, writes 0 timeouts 0
2025-04-29 06:07:15 [debug] Last sensors broadcast 0x00000000 found 0 4 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 87, 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 425, adv 35916/37110
2025-04-29 06:07:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10439, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:07:16 [info] currentZPosition:0.0103
2025-04-29 06:07:17 [debug] Stopped at height 0.011 mm
2025-04-29 06:07:17 [debug] Diagnostics for board 50:
2025-04-29 06:07:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:07:17 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.1%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:55:08 ago, cause: software
2025-04-29 06:07:17 [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
2025-04-29 06:07:17 [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
2025-04-29 06:07:17 [debug] Moves scheduled 28217, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 160, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=584, frequency (Hz): min=1572, max=15306
Sync err accum 63, peak jitter -2/1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1610553622 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:07:17 [debug] Driver 0: pos -9607, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16075, writes 0 timeouts 0
2025-04-29 06:07:17 [debug] Last sensors broadcast 0x00000000 found 0 124 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 82, 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 529, adv 35607/37100
2025-04-29 06:07:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10419, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:07:17 [info] currentZPosition:0.0105
2025-04-29 06:07:18 [debug] Stopped at height 0.011 mm
2025-04-29 06:07:18 [debug] Diagnostics for board 50:
2025-04-29 06:07:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:07:18 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:55:10 ago, cause: software
2025-04-29 06:07:18 [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
2025-04-29 06:07:18 [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
2025-04-29 06:07:18 [debug] Moves scheduled 28221, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 200, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=606, frequency (Hz): min=1445, max=15306
Sync err accum 74, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1609480798 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 06:07:18 [debug] Driver 0: pos -9604, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16910, writes 0 timeouts 0
2025-04-29 06:07:18 [debug] Last sensors broadcast 0x00000000 found 0 57 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 81, 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 368, adv 35774/37122
2025-04-29 06:07:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10387, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:07:18 [info] currentZPosition:0.0108
2025-04-29 06:07:20 [debug] Stopped at height 0.012 mm
2025-04-29 06:07:20 [debug] Diagnostics for board 50:
2025-04-29 06:07:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:07:20 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.0%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:55:11 ago, cause: software
2025-04-29 06:07:20 [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
2025-04-29 06:07:20 [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
2025-04-29 06:07:20 [debug] Moves scheduled 28225, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 240, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=504, frequency (Hz): min=1518, max=15306
Sync err accum 79, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1608458607 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 06:07:20 [debug] Driver 0: pos -9597, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16046, writes 0 timeouts 0
2025-04-29 06:07:20 [debug] Last sensors broadcast 0x00000000 found 0 170 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 80, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 35737/37104
2025-04-29 06:07:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10376, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2268
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:07:20 [info] currentZPosition:0.0115
2025-04-29 06:07:21 [debug] Stopped at height 0.010 mm
2025-04-29 06:07:21 [debug] Diagnostics for board 50:
2025-04-29 06:07:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:07:21 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:55:12 ago, cause: software
2025-04-29 06:07:21 [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
2025-04-29 06:07:21 [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
2025-04-29 06:07:21 [debug] Moves scheduled 28229, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 379, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=558, frequency (Hz): min=1637, max=15306
Sync err accum 78, peak jitter -1/1, peak Rx delay 186, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1607356135 ticks, 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
2025-04-29 06:07:21 [debug] Driver 0: pos -9609, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17393, writes 0 timeouts 0
2025-04-29 06:07:21 [debug] Last sensors broadcast 0x00000000 found 0 139 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 88, 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 357, adv 35645/37119
2025-04-29 06:07:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10446, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:07:21 [info] currentZPosition:0.0103
2025-04-29 06:07:22 [debug] Stopped at height 0.012 mm
2025-04-29 06:07:22 [debug] Diagnostics for board 50:
2025-04-29 06:07:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:07:22 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.8%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:55:14 ago, cause: software
2025-04-29 06:07:22 [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
2025-04-29 06:07:22 [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
2025-04-29 06:07:22 [debug] Moves scheduled 28233, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=693, frequency (Hz): min=1366, max=15306
Sync err accum 77, peak jitter -1/0, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1606355673 ticks, 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
2025-04-29 06:07:22 [debug] Driver 0: pos -9593, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15725, writes 0 timeouts 0
2025-04-29 06:07:22 [debug] Last sensors broadcast 0x00000000 found 0 222 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 79, 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 414, adv 35862/37122
2025-04-29 06:07:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10341, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2267
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:07:23 [info] currentZPosition:0.0119
2025-04-29 06:07:23 [debug] Stopped at height 0.011 mm
2025-04-29 06:07:24 [debug] Stopped at height 0.010 mm
2025-04-29 06:07:24 [debug] Diagnostics for board 50:
2025-04-29 06:07:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:07:24 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:55:16 ago, cause: software
2025-04-29 06:07:24 [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
2025-04-29 06:07:24 [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
2025-04-29 06:07:24 [debug] Moves scheduled 28239, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=674, frequency (Hz): min=1351, max=15306
Sync err accum 70, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1605002327 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max
2025-04-29 06:07:24 [debug] Driver 0: pos -9617, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 21575, writes 0 timeouts 0
2025-04-29 06:07:24 [debug] Last sensors broadcast 0x00000000 found 0 32 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 107, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36318/37128
2025-04-29 06:07:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10419, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:07:24 [info] currentZPosition:0.00954
2025-04-29 06:07:25 [debug] Stopped at height 0.010 mm
2025-04-29 06:07:26 [debug] Stopped at height 0.010 mm
2025-04-29 06:07:26 [debug] Diagnostics for board 50:
2025-04-29 06:07:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:07:26 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:55:17 ago, cause: software
2025-04-29 06:07:26 [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
2025-04-29 06:07:26 [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
2025-04-29 06:07:26 [debug] Moves scheduled 28245, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 252, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=686, frequency (Hz): min=1351, max=15306
Sync err accum 61, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1603748953 ticks, 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
2025-04-29 06:07:26 [debug] Driver 0: pos -9610, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 19790, writes 0 timeouts 0
2025-04-29 06:07:26 [debug] Last sensors broadcast 0x00000000 found 0 197 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 93, 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 530, adv 35968/37081
2025-04-29 06:07:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10394, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:07:26 [info] currentZPosition:0.0102
2025-04-29 06:07:27 [debug] Stopped at height 0.011 mm
2025-04-29 06:07:27 [debug] Diagnostics for board 50:
2025-04-29 06:07:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:07:27 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:55:19 ago, cause: software
2025-04-29 06:07:27 [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
2025-04-29 06:07:27 [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
2025-04-29 06:07:27 [debug] Moves scheduled 28249, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 405, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=654, frequency (Hz): min=1356, max=15306
Sync err accum 75, peak jitter 1/3, peak Rx delay 186, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1602692194 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:07:27 [debug] Driver 0: pos -9598, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16656, writes 0 timeouts 0
2025-04-29 06:07:27 [debug] Last sensors broadcast 0x00000000 found 0 107 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 83, send timeouts 0, received 22, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 36089/37122
2025-04-29 06:07:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10380, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:07:27 [info] currentZPosition:0.0114
2025-04-29 06:07:29 [debug] Stopped at height 0.011 mm
2025-04-29 06:07:29 [debug] Diagnostics for board 50:
2025-04-29 06:07:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:07:29 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:55:20 ago, cause: software
2025-04-29 06:07:29 [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
2025-04-29 06:07:29 [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
2025-04-29 06:07:29 [debug] Moves scheduled 28253, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=573, frequency (Hz): min=1470, max=15306
Sync err accum 87, peak jitter 1/3, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1601645015 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 06:07:29 [debug] Driver 0: pos -9605, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16516, writes 0 timeouts 0
2025-04-29 06:07:29 [debug] Last sensors broadcast 0x00000000 found 0 5 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 81, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 358, adv 36044/37120
2025-04-29 06:07:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10432, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:07:29 [info] currentZPosition:0.0107
2025-04-29 06:07:30 [debug] Stopped at height 0.011 mm
2025-04-29 06:07:30 [debug] Diagnostics for board 50:
2025-04-29 06:07:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:07:30 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:55:21 ago, cause: software
2025-04-29 06:07:30 [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
2025-04-29 06:07:30 [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
2025-04-29 06:07:30 [debug] Moves scheduled 28257, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 310, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=534, frequency (Hz): min=1225, max=15306
Sync err accum 97, peak jitter 1/2, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 1600565621 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:07:30 [debug] Driver 0: pos -9605, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16947, writes 0 timeouts 0
2025-04-29 06:07:30 [debug] Last sensors broadcast 0x00000000 found 0 193 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 82, 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 373, adv 35976/37145
2025-04-29 06:07:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10397, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:07:30 [info] currentZPosition:0.0107
2025-04-29 06:07:32 [debug] Stopped at height 0.011 mm
2025-04-29 06:07:32 [debug] Diagnostics for board 50:
2025-04-29 06:07:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:07:32 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:55:23 ago, cause: software
2025-04-29 06:07:32 [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
2025-04-29 06:07:32 [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
2025-04-29 06:07:32 [debug] Moves scheduled 28261, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=745, frequency (Hz): min=1273, max=15625
Sync err accum 105, peak jitter 0/2, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1599533089 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max
2025-04-29 06:07:32 [debug] Driver 0: pos -9604, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16169, writes 0 timeouts 0
2025-04-29 06:07:32 [debug] Last sensors broadcast 0x00000000 found 0 72 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 86, 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 361, adv 36163/37117
2025-04-29 06:07:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10410, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:07:32 [info] currentZPosition:0.0108
2025-04-29 06:07:33 [debug] Stopped at height 0.011 mm
2025-04-29 06:07:33 [debug] Diagnostics for board 50:
2025-04-29 06:07:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:07:33 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:55:24 ago, cause: software
2025-04-29 06:07:33 [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
2025-04-29 06:07:33 [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
2025-04-29 06:07:33 [debug] Moves scheduled 28265, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 344, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=592, frequency (Hz): min=1497, max=15306
Sync err accum 110, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1598458608 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max
2025-04-29 06:07:33 [debug] Driver 0: pos -9602, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16944, writes 0 timeouts 0
2025-04-29 06:07:33 [debug] Last sensors broadcast 0x00000000 found 0 5 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 84, 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 375, adv 35814/37102
2025-04-29 06:07:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10402, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:07:33 [info] currentZPosition:0.0110
2025-04-29 06:07:34 [debug] Stopped at height 0.011 mm
2025-04-29 06:07:34 [debug] Diagnostics for board 50:
2025-04-29 06:07:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:07:34 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:55:26 ago, cause: software
2025-04-29 06:07:34 [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
2025-04-29 06:07:34 [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
2025-04-29 06:07:34 [debug] Moves scheduled 28269, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=670, frequency (Hz): min=1363, max=15306
Sync err accum 109, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1597426153 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, ma
2025-04-29 06:07:34 [debug] Driver 0: pos -9602, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16206, writes 0 timeouts 0
2025-04-29 06:07:34 [debug] Last sensors broadcast 0x00000000 found 0 128 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 85, 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 385, adv 36241/37117
2025-04-29 06:07:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10401, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:07:34 [info] currentZPosition:0.0110
2025-04-29 06:07:36 [debug] Stopped at height 0.011 mm
2025-04-29 06:07:36 [debug] Diagnostics for board 50:
2025-04-29 06:07:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:07:36 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:55:27 ago, cause: software
2025-04-29 06:07:36 [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
2025-04-29 06:07:36 [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
2025-04-29 06:07:36 [debug] Moves scheduled 28273, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=809, frequency (Hz): min=981, max=15306
Sync err accum 105, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1596345664 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max
2025-04-29 06:07:36 [debug] Driver 0: pos -9604, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17046, writes 0 timeouts 0
2025-04-29 06:07:36 [debug] Last sensors broadcast 0x00000000 found 0 69 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 86, 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 426, adv 35682/37124
2025-04-29 06:07:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10394, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:07:36 [info] currentZPosition:0.0108
2025-04-29 06:07:37 [debug] Stopped at height 0.011 mm
2025-04-29 06:07:37 [debug] Diagnostics for board 50:
2025-04-29 06:07:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:07:37 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:55:28 ago, cause: software
2025-04-29 06:07:37 [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
2025-04-29 06:07:37 [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
2025-04-29 06:07:37 [debug] Moves scheduled 28277, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 243, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=584, frequency (Hz): min=509, max=15306
Sync err accum 94, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 0 ticks, disabled, next step interrupt due in 1595311037 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 06:07:37 [debug] Driver 0: pos -9606, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16266, writes 22 timeouts 2
2025-04-29 06:07:37 [debug] Last sensors broadcast 0x00000000 found 0 200 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 82, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36343/37164
2025-04-29 06:07:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10397, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4697, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:07:37 [info] currentZPosition:0.0106
2025-04-29 06:07:39 [debug] Stopped at height 0.011 mm
2025-04-29 06:07:39 [debug] Diagnostics for board 50:
2025-04-29 06:07:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:07:39 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:55:30 ago, cause: software
2025-04-29 06:07:39 [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
2025-04-29 06:07:39 [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
2025-04-29 06:07:39 [debug] Moves scheduled 28281, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=638, frequency (Hz): min=1371, max=15306
Sync err accum 81, peak jitter -2/-1, peak Rx delay 191, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1594247904 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, ma
2025-04-29 06:07:39 [debug] Driver 0: pos -9600, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16722, writes 0 timeouts 0
2025-04-29 06:07:39 [debug] Last sensors broadcast 0x00000000 found 0 116 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 81, 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 383, adv 36328/37167
2025-04-29 06:07:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10408, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:07:39 [info] currentZPosition:0.0112
2025-04-29 06:07:40 [debug] Stopped at height 0.010 mm
2025-04-29 06:07:40 [debug] Diagnostics for board 50:
2025-04-29 06:07:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:07:40 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:55:31 ago, cause: software
2025-04-29 06:07:40 [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
2025-04-29 06:07:40 [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
2025-04-29 06:07:40 [debug] Moves scheduled 28285, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=642, frequency (Hz): min=1470, max=15306
Sync err accum 63, peak jitter -3/-2, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1593196542 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, ma
2025-04-29 06:07:40 [debug] Driver 0: pos -9610, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16594, writes 0 timeouts 0
2025-04-29 06:07:40 [debug] Last sensors broadcast 0x00000000 found 0 19 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 82, 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 767, adv 35679/37127
2025-04-29 06:07:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10455, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:07:40 [info] currentZPosition:0.0102
2025-04-29 06:07:41 [debug] Stopped at height 0.012 mm
2025-04-29 06:07:41 [debug] Diagnostics for board 50:
2025-04-29 06:07:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:07:41 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:55:33 ago, cause: software
2025-04-29 06:07:41 [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
2025-04-29 06:07:41 [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
2025-04-29 06:07:41 [debug] Moves scheduled 28289, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 241, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=573, frequency (Hz): min=1559, max=15306
Sync err accum 63, peak jitter -3/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1592143412 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:07:41 [debug] Driver 0: pos -9597, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16626, writes 0 timeouts 0
2025-04-29 06:07:41 [debug] Last sensors broadcast 0x00000000 found 0 174 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 83, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36192/37093
2025-04-29 06:07:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10345, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:07:41 [info] currentZPosition:0.0115
2025-04-29 06:07:42 [debug] Stopped at height 0.011 mm
2025-04-29 06:07:43 [debug] Stopped at height 0.010 mm
2025-04-29 06:07:43 [debug] Diagnostics for board 50:
2025-04-29 06:07:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:07:43 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.9%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:55:34 ago, cause: software
2025-04-29 06:07:43 [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
2025-04-29 06:07:43 [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
2025-04-29 06:07:43 [debug] Moves scheduled 28295, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=669, frequency (Hz): min=1111, max=15306
Sync err accum 83, peak jitter 2/4, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1590846226 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:07:43 [debug] Driver 0: pos -9614, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20558, writes 0 timeouts 0
2025-04-29 06:07:43 [debug] Last sensors broadcast 0x00000000 found 0 153 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 108, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 35636/37160
2025-04-29 06:07:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10457, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4696, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:07:43 [info] currentZPosition:0.00984
2025-04-29 06:07:45 [debug] Stopped at height 0.011 mm
2025-04-29 06:07:45 [debug] Diagnostics for board 50:
2025-04-29 06:07:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:07:45 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:55:36 ago, cause: software
2025-04-29 06:07:45 [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
2025-04-29 06:07:45 [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
2025-04-29 06:07:45 [debug] Moves scheduled 28299, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 258, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=482, frequency (Hz): min=1562, max=15306
Sync err accum 93, peak jitter 1/2, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1589783388 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:07:45 [debug] Driver 0: pos -9606, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16770, writes 0 timeouts 0
2025-04-29 06:07:45 [debug] Last sensors broadcast 0x00000000 found 0 70 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 85, 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 370, adv 36066/37113
2025-04-29 06:07:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10422, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:07:45 [info] currentZPosition:0.0106
2025-04-29 06:07:46 [debug] Stopped at height 0.010 mm
2025-04-29 06:07:46 [debug] Diagnostics for board 50:
2025-04-29 06:07:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:07:46 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:55:37 ago, cause: software
2025-04-29 06:07:46 [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
2025-04-29 06:07:46 [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
2025-04-29 06:07:46 [debug] Moves scheduled 28303, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=548, frequency (Hz): min=1612, max=15625
Sync err accum 102, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1588744990 ticks, 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
2025-04-29 06:07:46 [debug] Driver 0: pos -9609, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16304, writes 0 timeouts 0
2025-04-29 06:07:46 [debug] Last sensors broadcast 0x00000000 found 0 206 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 89, send timeouts 0, received 22, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36334/37114
2025-04-29 06:07:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10402, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:07:46 [info] currentZPosition:0.0103
2025-04-29 06:07:47 [debug] Stopped at height 0.010 mm
2025-04-29 06:07:47 [debug] Diagnostics for board 50:
2025-04-29 06:07:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:07:47 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:55:39 ago, cause: software
2025-04-29 06:07:47 [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
2025-04-29 06:07:47 [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
2025-04-29 06:07:47 [debug] Moves scheduled 28307, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 168, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=784, frequency (Hz): min=1181, max=15306
Sync err accum 106, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1587651726 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max
2025-04-29 06:07:47 [debug] Driver 0: pos -9617, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17143, writes 0 timeouts 0
2025-04-29 06:07:47 [debug] Last sensors broadcast 0x00000000 found 0 162 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 95, 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 369, adv 35897/37112
2025-04-29 06:07:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10418, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:07:47 [info] currentZPosition:0.00954
2025-04-29 06:07:49 [debug] Stopped at height 0.010 mm
2025-04-29 06:07:49 [debug] Diagnostics for board 50:
2025-04-29 06:07:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:07:49 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.5%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:55:40 ago, cause: software
2025-04-29 06:07:49 [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
2025-04-29 06:07:49 [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
2025-04-29 06:07:49 [debug] Moves scheduled 28311, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=550, frequency (Hz): min=1299, max=15306
Sync err accum 107, peak jitter -1/1, peak Rx delay 201, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1586622957 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, ma
2025-04-29 06:07:49 [debug] Driver 0: pos -9615, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16002, writes 0 timeouts 0
2025-04-29 06:07:49 [debug] Last sensors broadcast 0x00000000 found 0 32 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 94, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 402, adv 35572/37104
2025-04-29 06:07:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10438, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4697, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:07:49 [info] currentZPosition:0.00974
2025-04-29 06:07:50 [debug] Stopped at height 0.011 mm
2025-04-29 06:07:50 [debug] Diagnostics for board 50:
2025-04-29 06:07:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:07:50 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:55:41 ago, cause: software
2025-04-29 06:07:50 [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
2025-04-29 06:07:50 [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
2025-04-29 06:07:50 [debug] Moves scheduled 28315, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 451, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=594, frequency (Hz): min=1371, max=15306
Sync err accum 102, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1585562505 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatu
2025-04-29 06:07:50 [debug] Driver 0: pos -9607, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16694, writes 0 timeouts 0
2025-04-29 06:07:50 [debug] Last sensors broadcast 0x00000000 found 0 200 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 88, 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 370, adv 35773/37112
2025-04-29 06:07:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10425, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4711, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:07:50 [info] currentZPosition:0.0105
2025-04-29 06:07:52 [debug] Stopped at height 0.009 mm
2025-04-29 06:07:52 [debug] Diagnostics for board 50:
2025-04-29 06:07:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:07:52 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.9%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:55:43 ago, cause: software
2025-04-29 06:07:52 [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
2025-04-29 06:07:52 [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
2025-04-29 06:07:52 [debug] Moves scheduled 28319, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=522, frequency (Hz): min=1401, max=15306
Sync err accum 95, peak jitter -1/-1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 4294967244 ticks, disabled, next step interrupt due in 1584511440 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: mi
2025-04-29 06:07:52 [debug] Driver 0: pos -9618, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16478, writes 0 timeouts 0
2025-04-29 06:07:52 [debug] Last sensors broadcast 0x00000000 found 0 98 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 95, 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 445, adv 35788/37156
2025-04-29 06:07:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10469, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:07:52 [info] currentZPosition:0.00944
2025-04-29 06:07:53 [debug] Stopped at height 0.011 mm
2025-04-29 06:07:53 [debug] Diagnostics for board 50:
2025-04-29 06:07:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:07:53 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.8%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:55:44 ago, cause: software
2025-04-29 06:07:53 [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
2025-04-29 06:07:53 [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
2025-04-29 06:07:53 [debug] Moves scheduled 28323, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 267, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=570, frequency (Hz): min=1271, max=15306
Sync err accum 85, peak jitter -2/-1, peak Rx delay 206, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1583469040 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, ma
2025-04-29 06:07:53 [debug] Driver 0: pos -9599, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16376, writes 0 timeouts 0
2025-04-29 06:07:53 [debug] Last sensors broadcast 0x00000000 found 0 237 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 82, 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 370, adv 35650/37153
2025-04-29 06:07:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10383, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:07:53 [info] currentZPosition:0.0113
2025-04-29 06:07:53 [debug] Stopped at height 0.010 mm
2025-04-29 06:07:55 [debug] Stopped at height 0.011 mm
2025-04-29 06:07:55 [debug] Diagnostics for board 50:
2025-04-29 06:07:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:07:55 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.1%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:55:46 ago, cause: software
2025-04-29 06:07:55 [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
2025-04-29 06:07:55 [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
2025-04-29 06:07:55 [debug] Moves scheduled 28329, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=722, frequency (Hz): min=1277, max=15306
Sync err accum 64, peak jitter -3/-2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1582203618 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 06:07:55 [debug] Driver 0: pos -9603, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20048, writes 0 timeouts 0
2025-04-29 06:07:55 [debug] Last sensors broadcast 0x00000000 found 0 178 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 98, 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 372, adv 35846/37124
2025-04-29 06:07:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10396, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:07:55 [info] currentZPosition:0.0109
2025-04-29 06:07:56 [debug] Stopped at height 0.011 mm
2025-04-29 06:07:56 [debug] Diagnostics for board 50:
2025-04-29 06:07:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:07:56 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:55:47 ago, cause: software
2025-04-29 06:07:56 [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
2025-04-29 06:07:56 [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
2025-04-29 06:07:56 [debug] Moves scheduled 28333, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=589, frequency (Hz): min=1358, max=15306
Sync err accum 65, peak jitter -3/3, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1581125322 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max
2025-04-29 06:07:56 [debug] Driver 0: pos -9604, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17002, writes 0 timeouts 0
2025-04-29 06:07:56 [debug] Last sensors broadcast 0x00000000 found 0 113 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 84, send timeouts 0, received 22, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36253/37107
2025-04-29 06:07:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2279
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10411, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4697, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:07:56 [info] currentZPosition:0.0108
2025-04-29 06:07:57 [debug] Stopped at height 0.011 mm
2025-04-29 06:07:57 [debug] Diagnostics for board 50:
2025-04-29 06:07:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:07:57 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:55:49 ago, cause: software
2025-04-29 06:07:57 [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
2025-04-29 06:07:57 [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
2025-04-29 06:07:57 [debug] Moves scheduled 28337, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 307, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=738, frequency (Hz): min=1201, max=15306
Sync err accum 82, peak jitter 2/3, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1580103392 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:07:57 [debug] Driver 0: pos -9602, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16145, writes 0 timeouts 0
2025-04-29 06:07:57 [debug] Last sensors broadcast 0x00000000 found 0 225 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 84, 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 385, adv 35933/37127
2025-04-29 06:07:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10412, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:07:58 [info] currentZPosition:0.0111
2025-04-29 06:07:59 [debug] Stopped at height 0.011 mm
2025-04-29 06:07:59 [debug] Diagnostics for board 50:
2025-04-29 06:07:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:07:59 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:55:50 ago, cause: software
2025-04-29 06:07:59 [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
2025-04-29 06:07:59 [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
2025-04-29 06:07:59 [debug] Moves scheduled 28341, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 558, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=566, frequency (Hz): min=1420, max=15306
Sync err accum 97, peak jitter 2/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 1579030812 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:07:59 [debug] Driver 0: pos -9600, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16986, writes 0 timeouts 0
2025-04-29 06:07:59 [debug] Last sensors broadcast 0x00000000 found 0 156 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 82, 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 453, adv 36139/37102
2025-04-29 06:07:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10402, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:07:59 [info] currentZPosition:0.0114
2025-04-29 06:08:00 [debug] Stopped at height 0.010 mm
2025-04-29 06:08:00 [debug] Diagnostics for board 50:
2025-04-29 06:08:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:08:00 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:55:52 ago, cause: software
2025-04-29 06:08:00 [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
2025-04-29 06:08:00 [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
2025-04-29 06:08:00 [debug] Moves scheduled 28345, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 162, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=546, frequency (Hz): min=1391, max=15306
Sync err accum 107, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1577981703 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max
2025-04-29 06:08:00 [debug] Driver 0: pos -9610, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16519, writes 0 timeouts 0
2025-04-29 06:08:00 [debug] Last sensors broadcast 0x00000000 found 0 55 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 89, 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 378, adv 36042/37121
2025-04-29 06:08:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10430, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:08:00 [info] currentZPosition:0.0104
2025-04-29 06:08:02 [debug] Stopped at height 0.011 mm
2025-04-29 06:08:02 [debug] Diagnostics for board 50:
2025-04-29 06:08:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:08:02 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.7%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:55:53 ago, cause: software
2025-04-29 06:08:02 [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
2025-04-29 06:08:02 [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
2025-04-29 06:08:02 [debug] Moves scheduled 28349, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=582, frequency (Hz): min=1273, max=15306
Sync err accum 112, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1576918011 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:08:02 [debug] Driver 0: pos -9602, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16740, writes 0 timeouts 0
2025-04-29 06:08:02 [debug] Last sensors broadcast 0x00000000 found 0 224 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 79, 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 370, adv 36031/37110
2025-04-29 06:08:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10417, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4707, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:08:02 [info] currentZPosition:0.0112
2025-04-29 06:08:03 [debug] Stopped at height 0.011 mm
2025-04-29 06:08:03 [debug] Diagnostics for board 50:
2025-04-29 06:08:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:08:03 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:55:54 ago, cause: software
2025-04-29 06:08:03 [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
2025-04-29 06:08:03 [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
2025-04-29 06:08:03 [debug] Moves scheduled 28353, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 716, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=698, frequency (Hz): min=1260, max=15306
Sync err accum 114, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 1575890090 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:08:03 [debug] Driver 0: pos -9602, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16182, writes 0 timeouts 0
2025-04-29 06:08:03 [debug] Last sensors broadcast 0x00000000 found 0 93 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 82, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 37, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 368, adv 36101/37126
2025-04-29 06:08:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10392, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:08:03 [info] currentZPosition:0.0112
2025-04-29 06:08:05 [debug] Stopped at height 0.010 mm
2025-04-29 06:08:05 [debug] Diagnostics for board 50:
2025-04-29 06:08:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:08:05 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.2%
Owned mutexes:
Last reset 16:55:56 ago, cause: software
2025-04-29 06:08:05 [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
2025-04-29 06:08:05 [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
2025-04-29 06:08:05 [debug] Moves scheduled 28357, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=634, frequency (Hz): min=704, max=15306
Sync err accum 113, 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 1574784856 ticks, 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
2025-04-29 06:08:05 [debug] Driver 0: pos -9617, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17340, writes 22 timeouts 2
2025-04-29 06:08:05 [debug] Last sensors broadcast 0x00000000 found 0 67 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 95, 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 390, adv 35873/37090
2025-04-29 06:08:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2279
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10449, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:08:05 [info] currentZPosition:0.00974
2025-04-29 06:08:05 [debug] Stopped at height 0.007 mm
2025-04-29 06:08:05 [debug] Stopped at height 0.007 mm
2025-04-29 06:08:07 [debug] Stopped at height 0.010 mm
2025-04-29 06:08:07 [debug] Diagnostics for board 50:
2025-04-29 06:08:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:08:07 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.9%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:55:58 ago, cause: software
2025-04-29 06:08:07 [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
2025-04-29 06:08:07 [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
2025-04-29 06:08:07 [debug] Moves scheduled 28365, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 492, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=581, frequency (Hz): min=867, max=15306
Sync err accum 107, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1573282997 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:08:07 [debug] Driver 0: pos -9610, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 23577, writes 11 timeouts 1
2025-04-29 06:08:07 [debug] Last sensors broadcast 0x00000000 found 0 70 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 132, send timeouts 0, received 35, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36204/37106
2025-04-29 06:08:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10410, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:08:07 [info] currentZPosition:0.0104
2025-04-29 06:08:07 [debug] Stopped at height 0.010 mm
2025-04-29 06:08:08 [debug] Stopped at height 0.011 mm
2025-04-29 06:08:08 [debug] Diagnostics for board 50:
2025-04-29 06:08:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:08:08 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.9%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:56:00 ago, cause: software
2025-04-29 06:08:08 [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
2025-04-29 06:08:08 [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
2025-04-29 06:08:08 [debug] Moves scheduled 28371, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 282, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=522, frequency (Hz): min=1559, max=15306
Sync err accum 91, peak jitter -2/-1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1571983513 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 06:08:08 [debug] Driver 0: pos -9601, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20611, writes 0 timeouts 0
2025-04-29 06:08:08 [debug] Last sensors broadcast 0x00000000 found 0 51 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 96, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 35791/37117
2025-04-29 06:08:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10412, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:08:08 [info] currentZPosition:0.0113
2025-04-29 06:08:10 [debug] Stopped at height 0.011 mm
2025-04-29 06:08:10 [debug] Diagnostics for board 50:
2025-04-29 06:08:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:08:10 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:56:01 ago, cause: software
2025-04-29 06:08:10 [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
2025-04-29 06:08:10 [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
2025-04-29 06:08:10 [debug] Moves scheduled 28375, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 368, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=474, frequency (Hz): min=1217, max=15306
Sync err accum 75, peak jitter -3/-2, peak Rx delay 192, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1570945509 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, ma
2025-04-29 06:08:10 [debug] Driver 0: pos -9606, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16333, writes 0 timeouts 0
2025-04-29 06:08:10 [debug] Last sensors broadcast 0x00000000 found 0 186 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 81, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36255/37130
2025-04-29 06:08:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10390, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:08:10 [info] currentZPosition:0.0108
2025-04-29 06:08:11 [debug] Stopped at height 0.011 mm
2025-04-29 06:08:11 [debug] Diagnostics for board 50:
2025-04-29 06:08:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:08:11 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:56:02 ago, cause: software
2025-04-29 06:08:11 [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
2025-04-29 06:08:11 [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
2025-04-29 06:08:11 [debug] Moves scheduled 28379, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=790, frequency (Hz): min=1203, max=15306
Sync err accum 57, peak jitter -3/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 1569858618 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:08:11 [debug] Driver 0: pos -9608, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17104, writes 0 timeouts 0
2025-04-29 06:08:11 [debug] Last sensors broadcast 0x00000000 found 0 136 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 88, 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 473, adv 35637/37133
2025-04-29 06:08:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10397, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:08:11 [info] currentZPosition:0.0106
2025-04-29 06:08:12 [debug] Stopped at height 0.011 mm
2025-04-29 06:08:12 [debug] Diagnostics for board 50:
2025-04-29 06:08:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:08:12 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:56:04 ago, cause: software
2025-04-29 06:08:12 [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
2025-04-29 06:08:12 [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
2025-04-29 06:08:12 [debug] Moves scheduled 28383, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 368, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=674, frequency (Hz): min=1088, max=15306
Sync err accum 75, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1568836443 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 06:08:12 [debug] Driver 0: pos -9603, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16004, writes 0 timeouts 0
2025-04-29 06:08:12 [debug] Last sensors broadcast 0x00000000 found 0 249 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 84, 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 368, adv 36333/37112
2025-04-29 06:08:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10409, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:08:13 [info] currentZPosition:0.0111
2025-04-29 06:08:14 [debug] Stopped at height 0.011 mm
2025-04-29 06:08:14 [debug] Diagnostics for board 50:
2025-04-29 06:08:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:08:14 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:56:05 ago, cause: software
2025-04-29 06:08:14 [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
2025-04-29 06:08:14 [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
2025-04-29 06:08:14 [debug] Moves scheduled 28387, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 584, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=572, frequency (Hz): min=1445, max=15306
Sync err accum 92, peak jitter 2/3, peak Rx delay 206, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1567756243 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 06:08:14 [debug] Driver 0: pos -9604, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17048, writes 0 timeouts 0
2025-04-29 06:08:14 [debug] Last sensors broadcast 0x00000000 found 0 190 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 84, 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 372, adv 36241/37117
2025-04-29 06:08:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10415, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:08:14 [info] currentZPosition:0.0110
2025-04-29 06:08:15 [debug] Stopped at height 0.012 mm
2025-04-29 06:08:15 [debug] Diagnostics for board 50:
2025-04-29 06:08:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:08:15 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:56:07 ago, cause: software
2025-04-29 06:08:15 [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
2025-04-29 06:08:15 [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
2025-04-29 06:08:15 [debug] Moves scheduled 28391, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 276, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=582, frequency (Hz): min=1051, max=15306
Sync err accum 108, peak jitter 1/3, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1566736261 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max
2025-04-29 06:08:15 [debug] Driver 0: pos -9599, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16052, writes 0 timeouts 0
2025-04-29 06:08:15 [debug] Last sensors broadcast 0x00000000 found 0 47 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 81, 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 546, adv 35697/37102
2025-04-29 06:08:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10395, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:08:15 [info] currentZPosition:0.0115
2025-04-29 06:08:17 [debug] Stopped at height 0.011 mm
2025-04-29 06:08:17 [debug] Diagnostics for board 50:
2025-04-29 06:08:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:08:17 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:56:08 ago, cause: software
2025-04-29 06:08:17 [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
2025-04-29 06:08:17 [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
2025-04-29 06:08:17 [debug] Moves scheduled 28395, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=558, frequency (Hz): min=1630, max=15306
Sync err accum 119, peak jitter 0/2, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 1565652378 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:08:17 [debug] Driver 0: pos -9606, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17174, writes 0 timeouts 0
2025-04-29 06:08:17 [debug] Last sensors broadcast 0x00000000 found 0 244 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 82, 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 387, adv 36104/37101
2025-04-29 06:08:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10430, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:08:17 [info] currentZPosition:0.0108
2025-04-29 06:08:18 [debug] Stopped at height 0.010 mm
2025-04-29 06:08:18 [debug] Diagnostics for board 50:
2025-04-29 06:08:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:08:18 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:56:09 ago, cause: software
2025-04-29 06:08:18 [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
2025-04-29 06:08:18 [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
2025-04-29 06:08:18 [debug] Moves scheduled 28399, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=552, frequency (Hz): min=1572, max=15306
Sync err accum 125, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1564611829 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:08:18 [debug] Driver 0: pos -9612, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16329, writes 0 timeouts 0
2025-04-29 06:08:18 [debug] Last sensors broadcast 0x00000000 found 0 130 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 90, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 35816/37122
2025-04-29 06:08:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2279
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10441, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:08:18 [info] currentZPosition:0.0102
2025-04-29 06:08:20 [debug] Stopped at height 0.010 mm
2025-04-29 06:08:20 [debug] Diagnostics for board 50:
2025-04-29 06:08:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:08:20 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:56:11 ago, cause: software
2025-04-29 06:08:20 [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
2025-04-29 06:08:20 [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
2025-04-29 06:08:20 [debug] Moves scheduled 28403, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=492, frequency (Hz): min=1315, max=15306
Sync err accum 124, peak jitter -2/1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1563540329 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatu
2025-04-29 06:08:20 [debug] Driver 0: pos -9610, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16897, writes 0 timeouts 0
2025-04-29 06:08:20 [debug] Last sensors broadcast 0x00000000 found 0 59 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 91, 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 408, adv 36035/37163
2025-04-29 06:08:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10446, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:08:20 [info] currentZPosition:0.0104
2025-04-29 06:08:21 [debug] Stopped at height 0.011 mm
2025-04-29 06:08:21 [debug] Diagnostics for board 50:
2025-04-29 06:08:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:08:21 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:56:12 ago, cause: software
2025-04-29 06:08:21 [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
2025-04-29 06:08:21 [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
2025-04-29 06:08:21 [debug] Moves scheduled 28407, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 307, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=544, frequency (Hz): min=540, max=15306
Sync err accum 110, peak jitter -3/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 1562515997 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 06:08:21 [debug] Driver 0: pos -9607, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16121, writes 11 timeouts 1
2025-04-29 06:08:21 [debug] Last sensors broadcast 0x00000000 found 0 176 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 86, 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 393, adv 35894/37143
2025-04-29 06:08:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10412, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:08:21 [info] currentZPosition:0.0107
2025-04-29 06:08:22 [debug] Stopped at height 0.011 mm
2025-04-29 06:08:22 [debug] Diagnostics for board 50:
2025-04-29 06:08:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:08:22 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:56:14 ago, cause: software
2025-04-29 06:08:22 [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
2025-04-29 06:08:22 [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
2025-04-29 06:08:22 [debug] Moves scheduled 28411, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=553, frequency (Hz): min=1500, max=15306
Sync err accum 93, peak jitter -3/-2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1561451582 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 06:08:22 [debug] Driver 0: pos -9604, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16752, writes 0 timeouts 0
2025-04-29 06:08:22 [debug] Last sensors broadcast 0x00000000 found 0 95 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 86, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 35931/37112
2025-04-29 06:08:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10413, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4697, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:08:22 [info] currentZPosition:0.0111
2025-04-29 06:08:24 [debug] Stopped at height 0.012 mm
2025-04-29 06:08:24 [debug] Diagnostics for board 50:
2025-04-29 06:08:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:08:24 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:56:15 ago, cause: software
2025-04-29 06:08:24 [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
2025-04-29 06:08:24 [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
2025-04-29 06:08:24 [debug] Moves scheduled 28415, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 306, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=518, frequency (Hz): min=1633, max=15306
Sync err accum 73, peak jitter -4/-2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 1560434597 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 06:08:24 [debug] Driver 0: pos -9598, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15976, writes 0 timeouts 0
2025-04-29 06:08:24 [debug] Last sensors broadcast 0x00000000 found 0 202 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 82, 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 407, adv 35995/37118
2025-04-29 06:08:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10386, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2268
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:08:24 [info] currentZPosition:0.0117
2025-04-29 06:08:25 [debug] Stopped at height 0.011 mm
2025-04-29 06:08:25 [debug] Diagnostics for board 50:
2025-04-29 06:08:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:08:25 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:56:16 ago, cause: software
2025-04-29 06:08:25 [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
2025-04-29 06:08:25 [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
2025-04-29 06:08:25 [debug] Moves scheduled 28419, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=588, frequency (Hz): min=1497, max=15625
Sync err accum 59, peak jitter -4/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 1559349702 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:08:25 [debug] Driver 0: pos -9604, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17211, writes 0 timeouts 0
2025-04-29 06:08:25 [debug] Last sensors broadcast 0x00000000 found 0 146 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 80, 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 379, adv 35694/37085
2025-04-29 06:08:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10435, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:08:25 [info] currentZPosition:0.0111
2025-04-29 06:08:26 [debug] Stopped at height 0.012 mm
2025-04-29 06:08:26 [debug] Diagnostics for board 50:
2025-04-29 06:08:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:08:26 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:56:18 ago, cause: software
2025-04-29 06:08:26 [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
2025-04-29 06:08:26 [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
2025-04-29 06:08:26 [debug] Moves scheduled 28423, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 161, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=433, frequency (Hz): min=1530, max=15306
Sync err accum 69, peak jitter 1/4, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1558330951 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 06:08:26 [debug] Driver 0: pos -9600, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16142, writes 0 timeouts 0
2025-04-29 06:08:26 [debug] Last sensors broadcast 0x00000000 found 0 5 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 82, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 401, adv 36020/37149
2025-04-29 06:08:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10387, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:08:27 [info] currentZPosition:0.0115
2025-04-29 06:08:28 [debug] Stopped at height 0.011 mm
2025-04-29 06:08:28 [debug] Diagnostics for board 50:
2025-04-29 06:08:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:08:28 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:56:19 ago, cause: software
2025-04-29 06:08:28 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:08:28 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:08:28 [debug] Moves scheduled 28427, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=598, frequency (Hz): min=1361, max=15306
Sync err accum 78, peak jitter 0/2, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1557238902 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 06:08:28 [debug] Driver 0: pos -9610, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17284, writes 0 timeouts 0
2025-04-29 06:08:28 [debug] Last sensors broadcast 0x00000000 found 0 212 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 84, send timeouts 0, received 22, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 35633/37086
2025-04-29 06:08:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2279
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10422, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:08:28 [info] currentZPosition:0.0106
2025-04-29 06:08:29 [debug] Stopped at height 0.011 mm
2025-04-29 06:08:29 [debug] Diagnostics for board 50:
2025-04-29 06:08:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:08:29 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:56:21 ago, cause: software
2025-04-29 06:08:29 [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
2025-04-29 06:08:29 [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
2025-04-29 06:08:29 [debug] Moves scheduled 28431, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 167, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=513, frequency (Hz): min=1630, max=15306
Sync err accum 81, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1556212962 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 06:08:29 [debug] Driver 0: pos -9609, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16175, writes 0 timeouts 0
2025-04-29 06:08:29 [debug] Last sensors broadcast 0x00000000 found 0 79 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 83, 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 397, adv 36116/37101
2025-04-29 06:08:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10411, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:08:29 [info] currentZPosition:0.0108
2025-04-29 06:08:31 [debug] Stopped at height 0.011 mm
2025-04-29 06:08:31 [debug] Diagnostics for board 50:
2025-04-29 06:08:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:08:31 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:56:22 ago, cause: software
2025-04-29 06:08:31 [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
2025-04-29 06:08:31 [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
2025-04-29 06:08:31 [debug] Moves scheduled 28435, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 229, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=566, frequency (Hz): min=1467, max=15306
Sync err accum 83, peak jitter -1/1, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1555144258 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max
2025-04-29 06:08:31 [debug] Driver 0: pos -9606, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16851, writes 0 timeouts 0
2025-04-29 06:08:31 [debug] Last sensors broadcast 0x00000000 found 0 5 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 86, 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 363, adv 36275/37119
2025-04-29 06:08:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10401, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4697, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:08:31 [info] currentZPosition:0.0111
2025-04-29 06:08:32 [debug] Stopped at height 0.011 mm
2025-04-29 06:08:32 [debug] Diagnostics for board 50:
2025-04-29 06:08:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:08:32 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:56:23 ago, cause: software
2025-04-29 06:08:32 [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
2025-04-29 06:08:32 [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
2025-04-29 06:08:32 [debug] Moves scheduled 28439, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 262, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=490, frequency (Hz): min=1605, max=15306
Sync err accum 81, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1554114827 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:08:32 [debug] Driver 0: pos -9605, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16148, writes 0 timeouts 0
2025-04-29 06:08:32 [debug] Last sensors broadcast 0x00000000 found 0 127 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 87, send timeouts 0, received 22, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36192/37099
2025-04-29 06:08:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10409, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:08:32 [info] currentZPosition:0.0112
2025-04-29 06:08:33 [debug] Stopped at height 0.011 mm
2025-04-29 06:08:33 [debug] Diagnostics for board 50:
2025-04-29 06:08:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:08:33 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:56:25 ago, cause: software
2025-04-29 06:08:33 [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
2025-04-29 06:08:33 [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
2025-04-29 06:08:33 [debug] Moves scheduled 28443, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=682, frequency (Hz): min=1386, max=15306
Sync err accum 75, peak jitter -1/-1, peak Rx delay 198, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1553044442 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, ma
2025-04-29 06:08:33 [debug] Driver 0: pos -9605, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16932, writes 0 timeouts 0
2025-04-29 06:08:33 [debug] Last sensors broadcast 0x00000000 found 0 54 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 80, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36192/37124
2025-04-29 06:08:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10399, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:08:34 [info] currentZPosition:0.0112
2025-04-29 06:08:35 [debug] Stopped at height 0.011 mm
2025-04-29 06:08:35 [debug] Diagnostics for board 50:
2025-04-29 06:08:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:08:35 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:56:26 ago, cause: software
2025-04-29 06:08:35 [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
2025-04-29 06:08:35 [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
2025-04-29 06:08:35 [debug] Moves scheduled 28447, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=621, frequency (Hz): min=1229, max=15306
Sync err accum 64, peak jitter -2/-1, peak Rx delay 185, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1552012377 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatu
2025-04-29 06:08:35 [debug] Driver 0: pos -9604, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16257, writes 0 timeouts 0
2025-04-29 06:08:35 [debug] Last sensors broadcast 0x00000000 found 0 186 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 85, 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 391, adv 36296/37080
2025-04-29 06:08:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10396, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:08:35 [info] currentZPosition:0.0113
2025-04-29 06:08:36 [debug] Stopped at height 0.011 mm
2025-04-29 06:08:36 [debug] Diagnostics for board 50:
2025-04-29 06:08:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:08:36 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:56:28 ago, cause: software
2025-04-29 06:08:36 [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
2025-04-29 06:08:36 [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
2025-04-29 06:08:36 [debug] Moves scheduled 28451, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=618, frequency (Hz): min=1396, max=15306
Sync err accum 66, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1550925588 ticks, 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
2025-04-29 06:08:36 [debug] Driver 0: pos -9609, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17114, writes 0 timeouts 0
2025-04-29 06:08:36 [debug] Last sensors broadcast 0x00000000 found 0 129 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 86, 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 432, adv 36082/37079
2025-04-29 06:08:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2279
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10424, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:08:36 [info] currentZPosition:0.0108
2025-04-29 06:08:38 [debug] Stopped at height 0.011 mm
2025-04-29 06:08:38 [debug] Diagnostics for board 50:
2025-04-29 06:08:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:08:38 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:56:29 ago, cause: software
2025-04-29 06:08:38 [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
2025-04-29 06:08:38 [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
2025-04-29 06:08:38 [debug] Moves scheduled 28455, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=642, frequency (Hz): min=1381, max=28846
Sync err accum 69, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1549903860 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max
2025-04-29 06:08:38 [debug] Driver 0: pos -9604, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16102, writes 0 timeouts 0
2025-04-29 06:08:38 [debug] Last sensors broadcast 0x00000000 found 0 240 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 80, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 35761/37149
2025-04-29 06:08:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10428, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:08:38 [info] currentZPosition:0.0113
2025-04-29 06:08:39 [debug] Stopped at height 0.011 mm
2025-04-29 06:08:39 [debug] Diagnostics for board 50:
2025-04-29 06:08:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:08:39 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:56:30 ago, cause: software
2025-04-29 06:08:39 [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
2025-04-29 06:08:39 [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
2025-04-29 06:08:39 [debug] Moves scheduled 28459, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 304, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=656, frequency (Hz): min=894, max=15306
Sync err accum 69, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1548831245 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:08:39 [debug] Driver 0: pos -9605, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16927, writes 11 timeouts 1
2025-04-29 06:08:39 [debug] Last sensors broadcast 0x00000000 found 0 173 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 89, 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 367, adv 35989/37152
2025-04-29 06:08:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10389, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:08:39 [info] currentZPosition:0.0112
2025-04-29 06:08:40 [debug] Stopped at height 0.011 mm
2025-04-29 06:08:40 [debug] Diagnostics for board 50:
2025-04-29 06:08:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:08:40 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.8%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:56:32 ago, cause: software
2025-04-29 06:08:40 [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
2025-04-29 06:08:40 [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
2025-04-29 06:08:40 [debug] Moves scheduled 28463, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=466, frequency (Hz): min=1648, max=15306
Sync err accum 64, peak jitter -1/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1547794310 ticks, 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
2025-04-29 06:08:40 [debug] Driver 0: pos -9607, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16307, writes 0 timeouts 0
2025-04-29 06:08:40 [debug] Last sensors broadcast 0x00000000 found 0 54 ticks ago, 0 ordering errs, loop time 2
CAN messages queued 89, 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 374, adv 35997/37117
2025-04-29 06:08:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2269
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10407, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:08:41 [info] currentZPosition:0.0110
2025-04-29 06:08:42 [debug] Stopped at height 0.012 mm
2025-04-29 06:08:42 [debug] Diagnostics for board 50:
2025-04-29 06:08:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:08:42 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:56:33 ago, cause: software
2025-04-29 06:08:42 [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
2025-04-29 06:08:42 [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
2025-04-29 06:08:42 [debug] Moves scheduled 28467, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=486, frequency (Hz): min=1473, max=15306
Sync err accum 68, peak jitter -1/3, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1546737180 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max
2025-04-29 06:08:42 [debug] Driver 0: pos -9599, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16732, writes 0 timeouts 0
2025-04-29 06:08:42 [debug] Last sensors broadcast 0x00000000 found 0 215 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 80, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 35802/37130
2025-04-29 06:08:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10365, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:08:42 [info] currentZPosition:0.0118
2025-04-29 06:08:43 [debug] Stopped at height 0.012 mm
2025-04-29 06:08:43 [debug] Diagnostics for board 50:
2025-04-29 06:08:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:08:43 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:56:35 ago, cause: software
2025-04-29 06:08:43 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:08:43 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:08:43 [debug] Moves scheduled 28471, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=696, frequency (Hz): min=1313, max=15306
Sync err accum 82, peak jitter 2/2, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1545699737 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 06:08:43 [debug] Driver 0: pos -9602, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16396, writes 0 timeouts 0
2025-04-29 06:08:43 [debug] Last sensors broadcast 0x00000000 found 0 98 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 83, 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 387, adv 36035/37102
2025-04-29 06:08:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10377, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:08:43 [info] currentZPosition:0.0115
2025-04-29 06:08:45 [debug] Stopped at height 0.011 mm
2025-04-29 06:08:45 [debug] Diagnostics for board 50:
2025-04-29 06:08:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:08:45 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:56:36 ago, cause: software
2025-04-29 06:08:45 [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
2025-04-29 06:08:45 [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
2025-04-29 06:08:45 [debug] Moves scheduled 28475, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=696, frequency (Hz): min=1361, max=15306
Sync err accum 92, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 1544621920 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:08:45 [debug] Driver 0: pos -9605, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17053, writes 0 timeouts 0
2025-04-29 06:08:45 [debug] Last sensors broadcast 0x00000000 found 0 34 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 84, 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 372, adv 35794/37117
2025-04-29 06:08:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10392, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:08:45 [info] currentZPosition:0.0112
2025-04-29 06:08:46 [debug] Stopped at height 0.012 mm
2025-04-29 06:08:46 [debug] Diagnostics for board 50:
2025-04-29 06:08:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:08:46 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:56:37 ago, cause: software
2025-04-29 06:08:46 [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
2025-04-29 06:08:46 [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
2025-04-29 06:08:46 [debug] Moves scheduled 28479, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=632, frequency (Hz): min=1491, max=15625
Sync err accum 97, peak jitter 0/2, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1543598543 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 06:08:46 [debug] Driver 0: pos -9602, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16156, writes 0 timeouts 0
2025-04-29 06:08:46 [debug] Last sensors broadcast 0x00000000 found 0 149 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 85, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 36133/37121
2025-04-29 06:08:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10403, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:08:46 [info] currentZPosition:0.0115
2025-04-29 06:08:47 [debug] Stopped at height 0.012 mm
2025-04-29 06:08:47 [debug] Diagnostics for board 50:
2025-04-29 06:08:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:08:47 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:56:39 ago, cause: software
2025-04-29 06:08:47 [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
2025-04-29 06:08:47 [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
2025-04-29 06:08:47 [debug] Moves scheduled 28483, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=520, frequency (Hz): min=800, max=15306
Sync err accum 103, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1542545298 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:08:47 [debug] Driver 0: pos -9595, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16696, writes 11 timeouts 1
2025-04-29 06:08:47 [debug] Last sensors broadcast 0x00000000 found 0 54 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 80, 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 514, adv 35614/37128
2025-04-29 06:08:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10375, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:08:48 [info] currentZPosition:0.0122
2025-04-29 06:08:49 [debug] Stopped at height 0.011 mm
2025-04-29 06:08:49 [debug] Diagnostics for board 50:
2025-04-29 06:08:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:08:49 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:56:40 ago, cause: software
2025-04-29 06:08:49 [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
2025-04-29 06:08:49 [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
2025-04-29 06:08:49 [debug] Moves scheduled 28487, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=794, frequency (Hz): min=1152, max=15306
Sync err accum 102, peak jitter -2/1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1541486326 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, ma
2025-04-29 06:08:49 [debug] Driver 0: pos -9610, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16736, writes 0 timeouts 0
2025-04-29 06:08:49 [debug] Last sensors broadcast 0x00000000 found 0 216 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 85, 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 335, adv 36263/37161
2025-04-29 06:08:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10406, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4694, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:08:49 [info] currentZPosition:0.0107
2025-04-29 06:08:49 [debug] Stopped at height 0.010 mm
2025-04-29 06:08:51 [debug] Stopped at height 0.012 mm
2025-04-29 06:08:51 [debug] Diagnostics for board 50:
2025-04-29 06:08:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:08:51 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.8%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:56:42 ago, cause: software
2025-04-29 06:08:51 [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
2025-04-29 06:08:51 [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
2025-04-29 06:08:51 [debug] Moves scheduled 28493, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=617, frequency (Hz): min=1415, max=15306
Sync err accum 95, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1540193204 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:08:51 [debug] Driver 0: pos -9602, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20537, writes 0 timeouts 0
2025-04-29 06:08:51 [debug] Last sensors broadcast 0x00000000 found 0 190 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 92, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 36256/37124
2025-04-29 06:08:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10378, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:08:51 [info] currentZPosition:0.0115
2025-04-29 06:08:52 [debug] Stopped at height 0.010 mm
2025-04-29 06:08:52 [debug] Diagnostics for board 50:
2025-04-29 06:08:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:08:52 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:56:43 ago, cause: software
2025-04-29 06:08:52 [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
2025-04-29 06:08:52 [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
2025-04-29 06:08:52 [debug] Moves scheduled 28497, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=470, frequency (Hz): min=1708, max=15306
Sync err accum 86, peak jitter -3/-1, peak Rx delay 189, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 1539141025 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 06:08:52 [debug] Driver 0: pos -9613, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16586, writes 0 timeouts 0
2025-04-29 06:08:52 [debug] Last sensors broadcast 0x00000000 found 0 94 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 93, 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 366, adv 36313/37155
2025-04-29 06:08:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10461, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4697, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:08:52 [info] currentZPosition:0.0104
2025-04-29 06:08:53 [debug] Stopped at height 0.012 mm
2025-04-29 06:08:53 [debug] Diagnostics for board 50:
2025-04-29 06:08:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:08:53 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:56:45 ago, cause: software
2025-04-29 06:08:53 [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
2025-04-29 06:08:53 [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
2025-04-29 06:08:53 [debug] Moves scheduled 28501, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=572, frequency (Hz): min=1459, max=15306
Sync err accum 70, peak jitter -3/-2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 1538089040 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 06:08:53 [debug] Driver 0: pos -9602, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16540, writes 0 timeouts 0
2025-04-29 06:08:53 [debug] Last sensors broadcast 0x00000000 found 0 245 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 79, 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 495, adv 36109/37053
2025-04-29 06:08:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10386, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:08:54 [info] currentZPosition:0.0115
2025-04-29 06:08:55 [debug] Stopped at height 0.010 mm
2025-04-29 06:08:55 [debug] Diagnostics for board 50:
2025-04-29 06:08:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:08:55 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:56:46 ago, cause: software
2025-04-29 06:08:55 [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
2025-04-29 06:08:55 [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
2025-04-29 06:08:55 [debug] Moves scheduled 28505, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=569, frequency (Hz): min=1122, max=15306
Sync err accum 60, peak jitter -3/0, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1537038120 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:08:55 [debug] Driver 0: pos -9614, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16576, writes 0 timeouts 0
2025-04-29 06:08:55 [debug] Last sensors broadcast 0x00000000 found 0 147 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 88, 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 383, adv 35606/37129
2025-04-29 06:08:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2280
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10431, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:08:55 [info] currentZPosition:0.0103
2025-04-29 06:08:56 [debug] Stopped at height 0.011 mm
2025-04-29 06:08:56 [debug] Diagnostics for board 50:
2025-04-29 06:08:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:08:56 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:56:48 ago, cause: software
2025-04-29 06:08:56 [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
2025-04-29 06:08:56 [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
2025-04-29 06:08:56 [debug] Moves scheduled 28509, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 164, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=465, frequency (Hz): min=573, max=15306
Sync err accum 72, peak jitter 1/3, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1535989166 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 3
2025-04-29 06:08:56 [debug] Driver 0: pos -9603, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16461, writes 22 timeouts 2
2025-04-29 06:08:56 [debug] Last sensors broadcast 0x00000000 found 0 47 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 84, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36051/37101
2025-04-29 06:08:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10430, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:08:56 [info] currentZPosition:0.0113
2025-04-29 06:08:58 [debug] Stopped at height 0.011 mm
2025-04-29 06:08:58 [debug] Diagnostics for board 50:
2025-04-29 06:08:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:08:58 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:56:49 ago, cause: software
2025-04-29 06:08:58 [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
2025-04-29 06:08:58 [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
2025-04-29 06:08:58 [debug] Moves scheduled 28513, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 329, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=558, frequency (Hz): min=541, max=15625
Sync err accum 80, peak jitter 1/2, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 1534945875 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, curr
2025-04-29 06:08:58 [debug] Driver 0: pos -9609, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16392, writes 11 timeouts 1
2025-04-29 06:08:58 [debug] Last sensors broadcast 0x00000000 found 0 187 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 85, 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 532, adv 35708/37151
2025-04-29 06:08:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10448, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:08:58 [info] currentZPosition:0.0107
2025-04-29 06:08:59 [debug] Stopped at height 0.011 mm
2025-04-29 06:08:59 [debug] Diagnostics for board 50:
2025-04-29 06:08:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:08:59 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:56:50 ago, cause: software
2025-04-29 06:08:59 [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
2025-04-29 06:08:59 [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
2025-04-29 06:08:59 [debug] Moves scheduled 28517, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=570, frequency (Hz): min=1599, max=15306
Sync err accum 86, peak jitter 0/2, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1533885865 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 06:08:59 [debug] Driver 0: pos -9603, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16713, writes 0 timeouts 0
2025-04-29 06:08:59 [debug] Last sensors broadcast 0x00000000 found 0 99 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 81, 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 438, adv 35978/37114
2025-04-29 06:08:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10411, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:08:59 [info] currentZPosition:0.0113
2025-04-29 06:09:00 [debug] Stopped at height 0.011 mm
2025-04-29 06:09:00 [debug] Diagnostics for board 50:
2025-04-29 06:09:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:09:00 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.7%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:56:52 ago, cause: software
2025-04-29 06:09:00 [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
2025-04-29 06:09:00 [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
2025-04-29 06:09:00 [debug] Moves scheduled 28521, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=590, frequency (Hz): min=1467, max=15306
Sync err accum 90, peak jitter 0/1, peak Rx delay 194, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1532848037 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 06:09:00 [debug] Driver 0: pos -9606, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16357, writes 0 timeouts 0
2025-04-29 06:09:00 [debug] Last sensors broadcast 0x00000000 found 0 235 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 84, 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 366, adv 35859/37127
2025-04-29 06:09:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10422, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:09:01 [info] currentZPosition:0.0110
2025-04-29 06:09:02 [debug] Stopped at height 0.011 mm
2025-04-29 06:09:02 [debug] Diagnostics for board 50:
2025-04-29 06:09:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:09:02 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:56:53 ago, cause: software
2025-04-29 06:09:02 [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
2025-04-29 06:09:02 [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
2025-04-29 06:09:02 [debug] Moves scheduled 28525, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 363, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=442, frequency (Hz): min=1546, max=15306
Sync err accum 86, peak jitter -1/0, peak Rx delay 213, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1531771035 ticks, 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
2025-04-29 06:09:02 [debug] Driver 0: pos -9608, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16970, writes 0 timeouts 0
2025-04-29 06:09:02 [debug] Last sensors broadcast 0x00000000 found 0 168 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 88, send timeouts 0, received 22, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 35803/37121
2025-04-29 06:09:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10397, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4697, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:09:02 [info] currentZPosition:0.0109
2025-04-29 06:09:03 [debug] Stopped at height 0.011 mm
2025-04-29 06:09:03 [debug] Diagnostics for board 50:
2025-04-29 06:09:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:09:03 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:56:55 ago, cause: software
2025-04-29 06:09:03 [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
2025-04-29 06:09:03 [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
2025-04-29 06:09:03 [debug] Moves scheduled 28529, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=554, frequency (Hz): min=1619, max=15306
Sync err accum 80, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, disabled, next step interrupt due in 1530744289 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 06:09:03 [debug] Driver 0: pos -9605, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16141, writes 0 timeouts 0
2025-04-29 06:09:03 [debug] Last sensors broadcast 0x00000000 found 0 38 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 84, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 35801/37120
2025-04-29 06:09:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10403, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:09:03 [info] currentZPosition:0.0112
2025-04-29 06:09:05 [debug] Stopped at height 0.010 mm
2025-04-29 06:09:05 [debug] Diagnostics for board 50:
2025-04-29 06:09:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:09:05 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:56:56 ago, cause: software
2025-04-29 06:09:05 [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
2025-04-29 06:09:05 [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
2025-04-29 06:09:05 [debug] Moves scheduled 28533, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=556, frequency (Hz): min=1420, max=15625
Sync err accum 68, peak jitter -2/-1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1529643419 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 06:09:05 [debug] Driver 0: pos -9620, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17381, writes 0 timeouts 0
2025-04-29 06:09:05 [debug] Last sensors broadcast 0x00000000 found 0 8 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 101, 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 373, adv 35708/37165
2025-04-29 06:09:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10427, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:09:05 [info] currentZPosition:0.00974
2025-04-29 06:09:05 [debug] Stopped at height 0.009 mm
2025-04-29 06:09:06 [debug] Stopped at height 0.011 mm
2025-04-29 06:09:06 [debug] Diagnostics for board 50:
2025-04-29 06:09:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:09:06 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.2%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:56:58 ago, cause: software
2025-04-29 06:09:06 [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
2025-04-29 06:09:06 [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
2025-04-29 06:09:06 [debug] Moves scheduled 28539, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=598, frequency (Hz): min=1275, max=15306
Sync err accum 62, peak jitter -2/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1528395798 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max
2025-04-29 06:09:06 [debug] Driver 0: pos -9605, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 19729, writes 0 timeouts 0
2025-04-29 06:09:06 [debug] Last sensors broadcast 0x00000000 found 0 169 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 100, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 35905/37131
2025-04-29 06:09:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10390, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:09:06 [info] currentZPosition:0.0112
2025-04-29 06:09:07 [debug] Stopped at height 0.011 mm
2025-04-29 06:09:08 [debug] Stopped at height 0.012 mm
2025-04-29 06:09:08 [debug] Diagnostics for board 50:
2025-04-29 06:09:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:09:08 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.4%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:56:59 ago, cause: software
2025-04-29 06:09:08 [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
2025-04-29 06:09:08 [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
2025-04-29 06:09:08 [debug] Moves scheduled 28545, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=541, frequency (Hz): min=728, max=15306
Sync err accum 83, peak jitter 1/3, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1527103806 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, curr
2025-04-29 06:09:08 [debug] Driver 0: pos -9598, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20619, writes 11 timeouts 1
2025-04-29 06:09:08 [debug] Last sensors broadcast 0x00000000 found 0 141 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 91, 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 378, adv 35610/37105
2025-04-29 06:09:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10344, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:09:08 [info] currentZPosition:0.0119
2025-04-29 06:09:09 [debug] Stopped at height 0.011 mm
2025-04-29 06:09:09 [debug] Diagnostics for board 50:
2025-04-29 06:09:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:09:09 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:57:01 ago, cause: software
2025-04-29 06:09:09 [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
2025-04-29 06:09:09 [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
2025-04-29 06:09:09 [debug] Moves scheduled 28549, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=521, frequency (Hz): min=1527, max=15306
Sync err accum 94, peak jitter 1/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 1526056396 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:09:09 [debug] Driver 0: pos -9606, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16502, writes 0 timeouts 0
2025-04-29 06:09:09 [debug] Last sensors broadcast 0x00000000 found 0 38 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 89, 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 372, adv 35994/37116
2025-04-29 06:09:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10442, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:09:10 [info] currentZPosition:0.0111
2025-04-29 06:09:11 [debug] Stopped at height 0.011 mm
2025-04-29 06:09:11 [debug] Diagnostics for board 50:
2025-04-29 06:09:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:09:11 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:57:02 ago, cause: software
2025-04-29 06:09:11 [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
2025-04-29 06:09:11 [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
2025-04-29 06:09:11 [debug] Moves scheduled 28553, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 161, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=520, frequency (Hz): min=1599, max=15306
Sync err accum 99, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1524987304 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 06:09:11 [debug] Driver 0: pos -9607, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16877, writes 0 timeouts 0
2025-04-29 06:09:11 [debug] Last sensors broadcast 0x00000000 found 0 213 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 82, 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 438, adv 36229/37068
2025-04-29 06:09:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10417, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:09:11 [info] currentZPosition:0.0110
2025-04-29 06:09:12 [debug] Stopped at height 0.011 mm
2025-04-29 06:09:12 [debug] Diagnostics for board 50:
2025-04-29 06:09:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:09:12 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:57:04 ago, cause: software
2025-04-29 06:09:12 [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
2025-04-29 06:09:12 [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
2025-04-29 06:09:12 [debug] Moves scheduled 28557, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=440, frequency (Hz): min=1626, max=15306
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 1523957325 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 06:09:12 [debug] Driver 0: pos -9607, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16224, writes 0 timeouts 0
2025-04-29 06:09:12 [debug] Last sensors broadcast 0x00000000 found 0 88 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 84, 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 500, adv 36034/37099
2025-04-29 06:09:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10432, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:09:12 [info] currentZPosition:0.0110
2025-04-29 06:09:14 [debug] Stopped at height 0.012 mm
2025-04-29 06:09:14 [debug] Diagnostics for board 50:
2025-04-29 06:09:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:09:14 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:57:05 ago, cause: software
2025-04-29 06:09:14 [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
2025-04-29 06:09:14 [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
2025-04-29 06:09:14 [debug] Moves scheduled 28561, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=510, frequency (Hz): min=1512, max=15306
Sync err accum 98, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 1522900077 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:09:14 [debug] Driver 0: pos -9599, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16648, writes 0 timeouts 0
2025-04-29 06:09:14 [debug] Last sensors broadcast 0x00000000 found 0 246 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 81, 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 380, adv 36171/37149
2025-04-29 06:09:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10351, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:09:14 [info] currentZPosition:0.0118
2025-04-29 06:09:15 [debug] Stopped at height 0.011 mm
2025-04-29 06:09:15 [debug] Diagnostics for board 50:
2025-04-29 06:09:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:09:15 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:57:06 ago, cause: software
2025-04-29 06:09:15 [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
2025-04-29 06:09:15 [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
2025-04-29 06:09:15 [debug] Moves scheduled 28565, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 599, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=577, frequency (Hz): min=1237, max=15306
Sync err accum 91, peak jitter -2/0, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1521847088 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max
2025-04-29 06:09:15 [debug] Driver 0: pos -9610, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16564, writes 0 timeouts 0
2025-04-29 06:09:15 [debug] Last sensors broadcast 0x00000000 found 0 151 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 89, 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 498, adv 36139/37111
2025-04-29 06:09:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10451, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:09:15 [info] currentZPosition:0.0107
2025-04-29 06:09:17 [debug] Stopped at height 0.010 mm
2025-04-29 06:09:17 [debug] Diagnostics for board 50:
2025-04-29 06:09:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:09:17 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:57:08 ago, cause: software
2025-04-29 06:09:17 [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
2025-04-29 06:09:17 [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
2025-04-29 06:09:17 [debug] Moves scheduled 28569, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=476, frequency (Hz): min=1807, max=15306
Sync err accum 83, peak jitter -2/-1, peak Rx delay 187, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 1520766493 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 06:09:17 [debug] Driver 0: pos -9615, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17033, writes 0 timeouts 0
2025-04-29 06:09:17 [debug] Last sensors broadcast 0x00000000 found 0 91 ticks ago, 0 ordering errs, loop time 2
CAN messages queued 90, 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 441, adv 36030/37123
2025-04-29 06:09:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10416, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:09:17 [info] currentZPosition:0.0102
2025-04-29 06:09:18 [debug] Stopped at height 0.011 mm
2025-04-29 06:09:18 [debug] Diagnostics for board 50:
2025-04-29 06:09:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:09:18 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:57:09 ago, cause: software
2025-04-29 06:09:18 [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
2025-04-29 06:09:18 [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
2025-04-29 06:09:18 [debug] Moves scheduled 28573, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=726, frequency (Hz): min=1196, max=15306
Sync err accum 69, peak jitter -3/-1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1519755101 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, ma
2025-04-29 06:09:18 [debug] Driver 0: pos -9604, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15948, writes 0 timeouts 0
2025-04-29 06:09:18 [debug] Last sensors broadcast 0x00000000 found 0 194 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 82, 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 370, adv 36175/37151
2025-04-29 06:09:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10398, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:09:18 [info] currentZPosition:0.0113
2025-04-29 06:09:19 [debug] Stopped at height 0.011 mm
2025-04-29 06:09:19 [debug] Diagnostics for board 50:
2025-04-29 06:09:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:09:19 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:57:11 ago, cause: software
2025-04-29 06:09:19 [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
2025-04-29 06:09:19 [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
2025-04-29 06:09:19 [debug] Moves scheduled 28577, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=449, frequency (Hz): min=1592, max=15306
Sync err accum 62, peak jitter -3/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 1518677774 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:09:19 [debug] Driver 0: pos -9605, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16954, writes 0 timeouts 0
2025-04-29 06:09:19 [debug] Last sensors broadcast 0x00000000 found 0 126 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 81, 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 468, adv 35943/37124
2025-04-29 06:09:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10393, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:09:19 [info] currentZPosition:0.0112
2025-04-29 06:09:21 [debug] Stopped at height 0.011 mm
2025-04-29 06:09:21 [debug] Diagnostics for board 50:
2025-04-29 06:09:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:09:21 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.8%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:57:12 ago, cause: software
2025-04-29 06:09:21 [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
2025-04-29 06:09:21 [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
2025-04-29 06:09:21 [debug] Moves scheduled 28581, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=501, frequency (Hz): min=758, max=15306
Sync err accum 77, peak jitter 1/4, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 1517633731 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, curr
2025-04-29 06:09:21 [debug] Driver 0: pos -9611, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16390, writes 11 timeouts 1
2025-04-29 06:09:21 [debug] Last sensors broadcast 0x00000000 found 0 20 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 86, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 36235/37125
2025-04-29 06:09:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10447, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:09:21 [info] currentZPosition:0.0106
2025-04-29 06:09:22 [debug] Stopped at height 0.010 mm
2025-04-29 06:09:22 [debug] Diagnostics for board 50:
2025-04-29 06:09:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:09:22 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:57:13 ago, cause: software
2025-04-29 06:09:22 [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
2025-04-29 06:09:22 [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
2025-04-29 06:09:22 [debug] Moves scheduled 28585, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 240, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=490, frequency (Hz): min=1506, max=15306
Sync err accum 86, peak jitter 1/2, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1516543468 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 06:09:22 [debug] Driver 0: pos -9621, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17129, writes 0 timeouts 0
2025-04-29 06:09:22 [debug] Last sensors broadcast 0x00000000 found 0 225 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 97, 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 925, adv 35901/37120
2025-04-29 06:09:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10463, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:09:22 [info] currentZPosition:0.00964
2025-04-29 06:09:24 [debug] Stopped at height 0.011 mm
2025-04-29 06:09:24 [debug] Diagnostics for board 50:
2025-04-29 06:09:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:09:24 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.1%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:57:15 ago, cause: software
2025-04-29 06:09:24 [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
2025-04-29 06:09:24 [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
2025-04-29 06:09:24 [debug] Moves scheduled 28589, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=473, frequency (Hz): min=597, max=15306
Sync err accum 93, peak jitter 1/2, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1515524800 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 3
2025-04-29 06:09:24 [debug] Driver 0: pos -9611, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15926, writes 11 timeouts 1
2025-04-29 06:09:24 [debug] Last sensors broadcast 0x00000000 found 0 81 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 88, 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 375, adv 36319/37124
2025-04-29 06:09:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2279
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10418, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4696, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:09:24 [info] currentZPosition:0.0107
2025-04-29 06:09:25 [debug] Stopped at height 0.010 mm
2025-04-29 06:09:25 [debug] Diagnostics for board 50:
2025-04-29 06:09:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:09:25 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:57:16 ago, cause: software
2025-04-29 06:09:25 [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
2025-04-29 06:09:25 [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
2025-04-29 06:09:25 [debug] Moves scheduled 28593, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 330, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=406, frequency (Hz): min=1728, max=15306
Sync err accum 97, peak jitter 0/2, peak Rx delay 197, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 1514442676 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:09:25 [debug] Driver 0: pos -9616, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17039, writes 0 timeouts 0
2025-04-29 06:09:25 [debug] Last sensors broadcast 0x00000000 found 0 22 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 92, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 35754/37126
2025-04-29 06:09:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10435, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2280
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:09:25 [info] currentZPosition:0.0103
2025-04-29 06:09:26 [debug] Stopped at height 0.010 mm
2025-04-29 06:09:26 [debug] Diagnostics for board 50:
2025-04-29 06:09:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:09:26 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:57:18 ago, cause: software
2025-04-29 06:09:26 [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
2025-04-29 06:09:26 [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
2025-04-29 06:09:26 [debug] Moves scheduled 28597, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=485, frequency (Hz): min=684, max=15625
Sync err accum 96, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1513411613 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:09:26 [debug] Driver 0: pos -9616, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16178, writes 11 timeouts 1
2025-04-29 06:09:26 [debug] Last sensors broadcast 0x00000000 found 0 149 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 93, 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 424, adv 35658/37126
2025-04-29 06:09:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10421, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:09:26 [info] currentZPosition:0.0104
2025-04-29 06:09:28 [debug] Stopped at height 0.011 mm
2025-04-29 06:09:28 [debug] Diagnostics for board 50:
2025-04-29 06:09:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:09:28 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:57:19 ago, cause: software
2025-04-29 06:09:28 [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
2025-04-29 06:09:28 [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
2025-04-29 06:09:28 [debug] Moves scheduled 28601, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 544, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=532, frequency (Hz): min=1428, max=15306
Sync err accum 93, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1512359909 ticks, 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
2025-04-29 06:09:28 [debug] Driver 0: pos -9606, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16513, writes 0 timeouts 0
2025-04-29 06:09:28 [debug] Last sensors broadcast 0x00000000 found 0 49 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 84, 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 390, adv 35629/37142
2025-04-29 06:09:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10419, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:09:28 [info] currentZPosition:0.0114
2025-04-29 06:09:29 [debug] Stopped at height 0.011 mm
2025-04-29 06:09:29 [debug] Diagnostics for board 50:
2025-04-29 06:09:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:09:29 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:57:20 ago, cause: software
2025-04-29 06:09:29 [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
2025-04-29 06:09:29 [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
2025-04-29 06:09:29 [debug] Moves scheduled 28605, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=605, frequency (Hz): min=1279, max=15306
Sync err accum 83, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1511324115 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, ma
2025-04-29 06:09:29 [debug] Driver 0: pos -9610, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16329, writes 0 timeouts 0
2025-04-29 06:09:29 [debug] Last sensors broadcast 0x00000000 found 0 181 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 83, 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 385, adv 35690/37120
2025-04-29 06:09:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10403, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:09:29 [info] currentZPosition:0.0110
2025-04-29 06:09:31 [debug] Stopped at height 0.011 mm
2025-04-29 06:09:31 [debug] Diagnostics for board 50:
2025-04-29 06:09:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:09:31 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:57:22 ago, cause: software
2025-04-29 06:09:31 [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
2025-04-29 06:09:31 [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
2025-04-29 06:09:31 [debug] Moves scheduled 28609, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=820, frequency (Hz): min=1114, max=15306
Sync err accum 69, peak jitter -3/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1510254617 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 06:09:31 [debug] Driver 0: pos -9609, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16894, writes 0 timeouts 0
2025-04-29 06:09:31 [debug] Last sensors broadcast 0x00000000 found 0 108 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 87, 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 373, adv 36290/37121
2025-04-29 06:09:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10404, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:09:31 [info] currentZPosition:0.0111
2025-04-29 06:09:32 [debug] Stopped at height 0.011 mm
2025-04-29 06:09:32 [debug] Diagnostics for board 50:
2025-04-29 06:09:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:09:32 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:57:23 ago, cause: software
2025-04-29 06:09:32 [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
2025-04-29 06:09:32 [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
2025-04-29 06:09:32 [debug] Moves scheduled 28613, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=501, frequency (Hz): min=1409, max=15306
Sync err accum 60, peak jitter -3/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 1509225993 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:09:32 [debug] Driver 0: pos -9608, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16189, writes 0 timeouts 0
2025-04-29 06:09:32 [debug] Last sensors broadcast 0x00000000 found 0 228 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 81, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 365, adv 35686/37121
2025-04-29 06:09:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10414, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:09:32 [info] currentZPosition:0.0113
2025-04-29 06:09:33 [debug] Stopped at height 0.012 mm
2025-04-29 06:09:33 [debug] Diagnostics for board 50:
2025-04-29 06:09:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:09:33 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:57:25 ago, cause: software
2025-04-29 06:09:33 [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
2025-04-29 06:09:33 [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
2025-04-29 06:09:33 [debug] Moves scheduled 28617, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=570, frequency (Hz): min=1524, max=15306
Sync err accum 73, peak jitter 1/3, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1508167900 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 06:09:33 [debug] Driver 0: pos -9603, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16752, writes 0 timeouts 0
2025-04-29 06:09:33 [debug] Last sensors broadcast 0x00000000 found 0 139 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 81, 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 498, adv 36240/37155
2025-04-29 06:09:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10403, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:09:33 [info] currentZPosition:0.0119
2025-04-29 06:09:35 [debug] Stopped at height 0.011 mm
2025-04-29 06:09:35 [debug] Diagnostics for board 50:
2025-04-29 06:09:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:09:35 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:57:26 ago, cause: software
2025-04-29 06:09:35 [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
2025-04-29 06:09:35 [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
2025-04-29 06:09:35 [debug] Moves scheduled 28621, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=568, frequency (Hz): min=1306, max=15625
Sync err accum 82, peak jitter 1/2, peak Rx delay 185, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1507123141 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 06:09:35 [debug] Driver 0: pos -9610, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16439, writes 0 timeouts 0
2025-04-29 06:09:35 [debug] Last sensors broadcast 0x00000000 found 0 34 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 90, 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 374, adv 36293/37138
2025-04-29 06:09:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2280
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10405, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4707, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:09:35 [info] currentZPosition:0.0112
2025-04-29 06:09:36 [debug] Stopped at height 0.012 mm
2025-04-29 06:09:36 [debug] Diagnostics for board 50:
2025-04-29 06:09:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:09:36 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:57:27 ago, cause: software
2025-04-29 06:09:36 [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
2025-04-29 06:09:36 [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
2025-04-29 06:09:36 [debug] Moves scheduled 28625, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=528, frequency (Hz): min=1467, max=15306
Sync err accum 86, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1506060719 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 06:09:36 [debug] Driver 0: pos -9607, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16757, writes 0 timeouts 0
2025-04-29 06:09:36 [debug] Last sensors broadcast 0x00000000 found 0 198 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 81, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 371, adv 36193/37109
2025-04-29 06:09:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10427, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:09:36 [info] currentZPosition:0.0115
2025-04-29 06:09:38 [debug] Stopped at height 0.011 mm
2025-04-29 06:09:38 [debug] Diagnostics for board 50:
2025-04-29 06:09:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:09:38 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:57:29 ago, cause: software
2025-04-29 06:09:38 [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
2025-04-29 06:09:38 [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
2025-04-29 06:09:38 [debug] Moves scheduled 28629, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=712, frequency (Hz): min=1136, max=15306
Sync err accum 89, peak jitter 0/1, peak Rx delay 186, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1505017175 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 06:09:38 [debug] Driver 0: pos -9614, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16436, writes 0 timeouts 0
2025-04-29 06:09:38 [debug] Last sensors broadcast 0x00000000 found 0 90 ticks ago, 0 ordering errs, loop time 2
CAN messages queued 89, 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 353, adv 35608/37127
2025-04-29 06:09:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10463, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:09:38 [info] currentZPosition:0.0108
2025-04-29 06:09:39 [debug] Stopped at height 0.011 mm
2025-04-29 06:09:39 [debug] Diagnostics for board 50:
2025-04-29 06:09:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:09:39 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:57:30 ago, cause: software
2025-04-29 06:09:39 [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
2025-04-29 06:09:39 [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
2025-04-29 06:09:39 [debug] Moves scheduled 28633, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 270, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=526, frequency (Hz): min=806, max=15306
Sync err accum 86, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1503957163 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 06:09:39 [debug] Driver 0: pos -9610, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16725, writes 11 timeouts 1
2025-04-29 06:09:39 [debug] Last sensors broadcast 0x00000000 found 0 6 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 86, 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 419, adv 36001/37080
2025-04-29 06:09:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10417, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2279
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:09:39 [info] currentZPosition:0.0112
2025-04-29 06:09:40 [debug] Stopped at height 0.011 mm
2025-04-29 06:09:40 [debug] Diagnostics for board 50:
2025-04-29 06:09:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:09:40 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:57:32 ago, cause: software
2025-04-29 06:09:40 [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
2025-04-29 06:09:40 [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
2025-04-29 06:09:40 [debug] Moves scheduled 28637, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=536, frequency (Hz): min=1122, max=15306
Sync err accum 82, peak jitter -1/0, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1502927195 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:09:40 [debug] Driver 0: pos -9610, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16249, writes 0 timeouts 0
2025-04-29 06:09:40 [debug] Last sensors broadcast 0x00000000 found 0 128 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 81, 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 488, adv 35656/37066
2025-04-29 06:09:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10449, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:09:40 [info] currentZPosition:0.0112
2025-04-29 06:09:42 [debug] Stopped at height 0.012 mm
2025-04-29 06:09:42 [debug] Diagnostics for board 50:
2025-04-29 06:09:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:09:42 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:57:33 ago, cause: software
2025-04-29 06:09:42 [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
2025-04-29 06:09:42 [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
2025-04-29 06:09:42 [debug] Moves scheduled 28641, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=526, frequency (Hz): min=1712, max=15306
Sync err accum 70, peak jitter -3/-1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1501857836 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, ma
2025-04-29 06:09:42 [debug] Driver 0: pos -9607, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16861, writes 0 timeouts 0
2025-04-29 06:09:42 [debug] Last sensors broadcast 0x00000000 found 0 54 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 86, 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 437, adv 36014/37119
2025-04-29 06:09:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10396, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:09:42 [info] currentZPosition:0.0115
2025-04-29 06:09:43 [debug] Stopped at height 0.012 mm
2025-04-29 06:09:43 [debug] Diagnostics for board 50:
2025-04-29 06:09:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:09:43 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:57:34 ago, cause: software
2025-04-29 06:09:43 [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
2025-04-29 06:09:43 [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
2025-04-29 06:09:43 [debug] Moves scheduled 28645, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=640, frequency (Hz): min=1264, max=15306
Sync err accum 63, peak jitter -3/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1500828533 ticks, 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
2025-04-29 06:09:43 [debug] Driver 0: pos -9606, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16196, writes 0 timeouts 0
2025-04-29 06:09:43 [debug] Last sensors broadcast 0x00000000 found 0 175 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 85, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 35748/37093
2025-04-29 06:09:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10436, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:09:43 [info] currentZPosition:0.0116
2025-04-29 06:09:45 [debug] Stopped at height 0.012 mm
2025-04-29 06:09:45 [debug] Diagnostics for board 50:
2025-04-29 06:09:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:09:45 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:57:36 ago, cause: software
2025-04-29 06:09:45 [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
2025-04-29 06:09:45 [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
2025-04-29 06:09:45 [debug] Moves scheduled 28649, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 323, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=461, frequency (Hz): min=1540, max=15306
Sync err accum 71, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 1499759014 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:09:45 [debug] Driver 0: pos -9607, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16877, writes 0 timeouts 0
2025-04-29 06:09:45 [debug] Last sensors broadcast 0x00000000 found 0 101 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 83, 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 376, adv 35839/37115
2025-04-29 06:09:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10427, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:09:45 [info] currentZPosition:0.0115
2025-04-29 06:09:46 [debug] Stopped at height 0.010 mm
2025-04-29 06:09:46 [debug] Diagnostics for board 50:
2025-04-29 06:09:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:09:46 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:57:37 ago, cause: software
2025-04-29 06:09:46 [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
2025-04-29 06:09:46 [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
2025-04-29 06:09:46 [debug] Moves scheduled 28653, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 160, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=568, frequency (Hz): min=1562, max=15306
Sync err accum 77, peak jitter 0/2, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1498704919 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:09:46 [debug] Driver 0: pos -9619, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16557, writes 0 timeouts 0
2025-04-29 06:09:46 [debug] Last sensors broadcast 0x00000000 found 0 9 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 95, 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 375, adv 35752/37126
2025-04-29 06:09:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2280
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10438, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:09:46 [info] currentZPosition:0.0103
2025-04-29 06:09:47 [debug] Stopped at height 0.012 mm
2025-04-29 06:09:47 [debug] Diagnostics for board 50:
2025-04-29 06:09:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:09:47 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:57:39 ago, cause: software
2025-04-29 06:09:47 [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
2025-04-29 06:09:47 [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
2025-04-29 06:09:47 [debug] Moves scheduled 28657, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 297, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=474, frequency (Hz): min=1556, max=15306
Sync err accum 78, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1497657536 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 06:09:47 [debug] Driver 0: pos -9605, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16486, writes 0 timeouts 0
2025-04-29 06:09:47 [debug] Last sensors broadcast 0x00000000 found 0 153 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 85, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 35739/37168
2025-04-29 06:09:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10432, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:09:47 [info] currentZPosition:0.0117
2025-04-29 06:09:48 [debug] Stopped at height 0.011 mm
2025-04-29 06:09:49 [debug] Stopped at height 0.012 mm
2025-04-29 06:09:49 [debug] Diagnostics for board 50:
2025-04-29 06:09:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:09:49 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:57:40 ago, cause: software
2025-04-29 06:09:49 [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
2025-04-29 06:09:49 [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
2025-04-29 06:09:49 [debug] Moves scheduled 28663, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=477, frequency (Hz): min=740, max=15306
Sync err accum 75, peak jitter -2/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1496404122 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 06:09:49 [debug] Driver 0: pos -9602, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 19931, writes 11 timeouts 1
2025-04-29 06:09:49 [debug] Last sensors broadcast 0x00000000 found 0 74 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 94, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 35815/37134
2025-04-29 06:09:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10387, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:09:49 [info] currentZPosition:0.0120
2025-04-29 06:09:50 [debug] Stopped at height 0.012 mm
2025-04-29 06:09:50 [debug] Diagnostics for board 50:
2025-04-29 06:09:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:09:50 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:57:42 ago, cause: software
2025-04-29 06:09:50 [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
2025-04-29 06:09:50 [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
2025-04-29 06:09:50 [debug] Moves scheduled 28667, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 401, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=576, frequency (Hz): min=1485, max=15306
Sync err accum 66, peak jitter -3/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1495329482 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:09:50 [debug] Driver 0: pos -9605, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17020, writes 0 timeouts 0
2025-04-29 06:09:50 [debug] Last sensors broadcast 0x00000000 found 0 7 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 80, 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 386, adv 35711/37122
2025-04-29 06:09:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10392, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:09:51 [info] currentZPosition:0.0117
2025-04-29 06:09:52 [debug] Stopped at height 0.012 mm
2025-04-29 06:09:52 [debug] Diagnostics for board 50:
2025-04-29 06:09:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:09:52 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:57:43 ago, cause: software
2025-04-29 06:09:52 [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
2025-04-29 06:09:52 [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
2025-04-29 06:09:52 [debug] Moves scheduled 28671, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 304, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=502, frequency (Hz): min=1648, max=15625
Sync err accum 65, peak jitter -2/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1494297012 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max
2025-04-29 06:09:52 [debug] Driver 0: pos -9607, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16285, writes 0 timeouts 0
2025-04-29 06:09:52 [debug] Last sensors broadcast 0x00000000 found 0 133 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 84, 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 390, adv 35890/37124
2025-04-29 06:09:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10428, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:09:52 [info] currentZPosition:0.0115
2025-04-29 06:09:53 [debug] Stopped at height 0.011 mm
2025-04-29 06:09:53 [debug] Diagnostics for board 50:
2025-04-29 06:09:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:09:53 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:57:45 ago, cause: software
2025-04-29 06:09:53 [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
2025-04-29 06:09:53 [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
2025-04-29 06:09:53 [debug] Moves scheduled 28675, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=550, frequency (Hz): min=1325, max=15306
Sync err accum 70, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1493216705 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 06:09:53 [debug] Driver 0: pos -9614, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17081, writes 0 timeouts 0
2025-04-29 06:09:53 [debug] Last sensors broadcast 0x00000000 found 0 77 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 89, send timeouts 0, received 22, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 35600/37155
2025-04-29 06:09:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10451, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4695, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:09:53 [info] currentZPosition:0.0108
2025-04-29 06:09:55 [debug] Stopped at height 0.011 mm
2025-04-29 06:09:55 [debug] Diagnostics for board 50:
2025-04-29 06:09:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:09:55 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.9%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:57:46 ago, cause: software
2025-04-29 06:09:55 [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
2025-04-29 06:09:55 [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
2025-04-29 06:09:55 [debug] Moves scheduled 28679, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=521, frequency (Hz): min=1170, max=15306
Sync err accum 71, peak jitter 0/1, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1492191742 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:09:55 [debug] Driver 0: pos -9611, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16083, writes 0 timeouts 0
2025-04-29 06:09:55 [debug] Last sensors broadcast 0x00000000 found 0 191 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 88, 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 438, adv 35975/37092
2025-04-29 06:09:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10447, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:09:55 [info] currentZPosition:0.0111
2025-04-29 06:09:56 [debug] Stopped at height 0.012 mm
2025-04-29 06:09:56 [debug] Diagnostics for board 50:
2025-04-29 06:09:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:09:56 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:57:47 ago, cause: software
2025-04-29 06:09:56 [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
2025-04-29 06:09:56 [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
2025-04-29 06:09:56 [debug] Moves scheduled 28683, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 268, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=634, frequency (Hz): min=1299, max=15306
Sync err accum 67, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1491138434 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:09:56 [debug] Driver 0: pos -9602, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16585, writes 0 timeouts 0
2025-04-29 06:09:56 [debug] Last sensors broadcast 0x00000000 found 0 94 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 82, 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 462, adv 36237/37106
2025-04-29 06:09:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10413, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:09:56 [info] currentZPosition:0.0120
2025-04-29 06:09:57 [debug] Stopped at height 0.011 mm
2025-04-29 06:09:57 [debug] Diagnostics for board 50:
2025-04-29 06:09:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:09:57 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:57:49 ago, cause: software
2025-04-29 06:09:57 [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
2025-04-29 06:09:57 [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
2025-04-29 06:09:57 [debug] Moves scheduled 28687, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=682, frequency (Hz): min=580, max=15625
Sync err accum 62, peak jitter -2/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1490102980 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:09:57 [debug] Driver 0: pos -9608, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16280, writes 11 timeouts 1
2025-04-29 06:09:57 [debug] Last sensors broadcast 0x00000000 found 0 229 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 82, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 35994/37170
2025-04-29 06:09:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10399, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:09:58 [info] currentZPosition:0.0114
2025-04-29 06:09:59 [debug] Stopped at height 0.011 mm
2025-04-29 06:09:59 [debug] Diagnostics for board 50:
2025-04-29 06:09:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:09:59 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.7%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:57:50 ago, cause: software
2025-04-29 06:09:59 [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
2025-04-29 06:09:59 [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
2025-04-29 06:09:59 [debug] Moves scheduled 28691, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=737, frequency (Hz): min=591, max=15306
Sync err accum 67, peak jitter 0/2, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1489034394 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 3
2025-04-29 06:09:59 [debug] Driver 0: pos -9608, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16795, writes 11 timeouts 1
2025-04-29 06:09:59 [debug] Last sensors broadcast 0x00000000 found 0 152 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 87, send timeouts 0, received 22, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36172/37088
2025-04-29 06:09:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10399, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:09:59 [info] currentZPosition:0.0114
2025-04-29 06:10:00 [debug] Stopped at height 0.011 mm
2025-04-29 06:10:00 [debug] Diagnostics for board 50:
2025-04-29 06:10:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:10:00 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.8%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:57:52 ago, cause: software
2025-04-29 06:10:00 [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
2025-04-29 06:10:00 [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
2025-04-29 06:10:00 [debug] Moves scheduled 28695, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=637, frequency (Hz): min=1273, max=15625
Sync err accum 66, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1488001204 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:10:00 [debug] Driver 0: pos -9610, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16228, writes 0 timeouts 0
2025-04-29 06:10:00 [debug] Last sensors broadcast 0x00000000 found 0 29 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 84, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36059/37156
2025-04-29 06:10:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10400, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:10:00 [info] currentZPosition:0.0112
2025-04-29 06:10:02 [debug] Stopped at height 0.011 mm
2025-04-29 06:10:02 [debug] Diagnostics for board 50:
2025-04-29 06:10:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:10:02 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:57:53 ago, cause: software
2025-04-29 06:10:02 [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
2025-04-29 06:10:02 [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
2025-04-29 06:10:02 [debug] Moves scheduled 28699, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=553, frequency (Hz): min=871, max=15625
Sync err accum 65, peak jitter -1/2, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 1486932826 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:10:02 [debug] Driver 0: pos -9610, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16812, writes 11 timeouts 1
2025-04-29 06:10:02 [debug] Last sensors broadcast 0x00000000 found 0 204 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 87, 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 369, adv 36098/37158
2025-04-29 06:10:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10406, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:10:02 [info] currentZPosition:0.0112
2025-04-29 06:10:03 [debug] Stopped at height 0.011 mm
2025-04-29 06:10:03 [debug] Diagnostics for board 50:
2025-04-29 06:10:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:10:03 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:57:54 ago, cause: software
2025-04-29 06:10:03 [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
2025-04-29 06:10:03 [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
2025-04-29 06:10:03 [debug] Moves scheduled 28703, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 241, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=717, frequency (Hz): min=1225, max=15306
Sync err accum 68, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1485908450 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max
2025-04-29 06:10:03 [debug] Driver 0: pos -9608, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16128, writes 0 timeouts 0
2025-04-29 06:10:03 [debug] Last sensors broadcast 0x00000000 found 0 70 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 86, 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 500, adv 36100/37121
2025-04-29 06:10:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10445, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:10:03 [info] currentZPosition:0.0114
2025-04-29 06:10:04 [debug] Stopped at height 0.011 mm
2025-04-29 06:10:04 [debug] Diagnostics for board 50:
2025-04-29 06:10:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:10:04 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:57:56 ago, cause: software
2025-04-29 06:10:04 [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
2025-04-29 06:10:04 [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
2025-04-29 06:10:04 [debug] Moves scheduled 28707, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=490, frequency (Hz): min=577, max=15306
Sync err accum 68, peak jitter -1/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1484828376 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 06:10:04 [debug] Driver 0: pos -9613, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17002, writes 11 timeouts 1
2025-04-29 06:10:04 [debug] Last sensors broadcast 0x00000000 found 0 9 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 91, 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 388, adv 35978/37137
2025-04-29 06:10:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10447, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4696, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:10:05 [info] currentZPosition:0.0109
2025-04-29 06:10:06 [debug] Stopped at height 0.012 mm
2025-04-29 06:10:06 [debug] Diagnostics for board 50:
2025-04-29 06:10:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:10:06 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:57:57 ago, cause: software
2025-04-29 06:10:06 [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
2025-04-29 06:10:06 [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
2025-04-29 06:10:06 [debug] Moves scheduled 28711, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=613, frequency (Hz): min=1388, max=15306
Sync err accum 64, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1483816997 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max
2025-04-29 06:10:06 [debug] Driver 0: pos -9605, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15954, writes 0 timeouts 0
2025-04-29 06:10:06 [debug] Last sensors broadcast 0x00000000 found 0 110 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 78, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 398, adv 36147/37068
2025-04-29 06:10:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10402, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:10:06 [info] currentZPosition:0.0117
2025-04-29 06:10:07 [debug] Stopped at height 0.012 mm
2025-04-29 06:10:07 [debug] Diagnostics for board 50:
2025-04-29 06:10:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:10:07 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.2%
Owned mutexes:
Last reset 16:57:59 ago, cause: software
2025-04-29 06:10:07 [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
2025-04-29 06:10:07 [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
2025-04-29 06:10:07 [debug] Moves scheduled 28715, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 262, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=508, frequency (Hz): min=1518, max=15306
Sync err accum 66, peak jitter -1/2, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1482740082 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max
2025-04-29 06:10:07 [debug] Driver 0: pos -9608, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16921, writes 0 timeouts 0
2025-04-29 06:10:07 [debug] Last sensors broadcast 0x00000000 found 0 43 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 87, 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 379, adv 35903/37123
2025-04-29 06:10:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10401, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:10:07 [info] currentZPosition:0.0115
2025-04-29 06:10:09 [debug] Stopped at height 0.012 mm
2025-04-29 06:10:09 [debug] Diagnostics for board 50:
2025-04-29 06:10:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:10:09 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.8%
Owned mutexes:
Last reset 16:58:00 ago, cause: software
2025-04-29 06:10:09 [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
2025-04-29 06:10:09 [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
2025-04-29 06:10:09 [debug] Moves scheduled 28719, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=522, frequency (Hz): min=1556, max=15306
Sync err accum 68, peak jitter 0/1, peak Rx delay 186, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1481733465 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:10:09 [debug] Driver 0: pos -9599, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15879, writes 0 timeouts 0
2025-04-29 06:10:09 [debug] Last sensors broadcast 0x00000000 found 0 137 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 78, 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 360, adv 36220/37112
2025-04-29 06:10:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10380, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:10:09 [info] currentZPosition:0.0124
2025-04-29 06:10:10 [debug] Stopped at height 0.011 mm
2025-04-29 06:10:10 [debug] Diagnostics for board 50:
2025-04-29 06:10:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:10:10 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:58:01 ago, cause: software
2025-04-29 06:10:10 [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
2025-04-29 06:10:10 [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
2025-04-29 06:10:10 [debug] Moves scheduled 28723, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=596, frequency (Hz): min=1299, max=15306
Sync err accum 67, peak jitter -1/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1480648496 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:10:10 [debug] Driver 0: pos -9609, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17221, writes 0 timeouts 0
2025-04-29 06:10:10 [debug] Last sensors broadcast 0x00000000 found 0 84 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 83, 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 381, adv 35857/37119
2025-04-29 06:10:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10406, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:10:10 [info] currentZPosition:0.0114
2025-04-29 06:10:11 [debug] Stopped at height 0.011 mm
2025-04-29 06:10:11 [debug] Diagnostics for board 50:
2025-04-29 06:10:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:10:11 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:58:03 ago, cause: software
2025-04-29 06:10:11 [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
2025-04-29 06:10:11 [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
2025-04-29 06:10:11 [debug] Moves scheduled 28727, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=593, frequency (Hz): min=1559, max=15306
Sync err accum 62, peak jitter -1/0, peak Rx delay 171, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1479614724 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max
2025-04-29 06:10:11 [debug] Driver 0: pos -9610, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16315, writes 0 timeouts 0
2025-04-29 06:10:11 [debug] Last sensors broadcast 0x00000000 found 0 212 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 87, 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 445, adv 36307/37092
2025-04-29 06:10:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10453, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:10:12 [info] currentZPosition:0.0113
2025-04-29 06:10:13 [debug] Stopped at height 0.011 mm
2025-04-29 06:10:13 [debug] Diagnostics for board 50:
2025-04-29 06:10:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:10:13 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:58:04 ago, cause: software
2025-04-29 06:10:13 [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
2025-04-29 06:10:13 [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
2025-04-29 06:10:13 [debug] Moves scheduled 28731, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 242, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=480, frequency (Hz): min=1461, max=15306
Sync err accum 75, peak jitter 1/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 1478542302 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:10:13 [debug] Driver 0: pos -9609, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16901, writes 0 timeouts 0
2025-04-29 06:10:13 [debug] Last sensors broadcast 0x00000000 found 0 139 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 86, 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 393, adv 35804/37092
2025-04-29 06:10:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2279
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10424, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:10:13 [info] currentZPosition:0.0114
2025-04-29 06:10:14 [debug] Stopped at height 0.012 mm
2025-04-29 06:10:14 [debug] Diagnostics for board 50:
2025-04-29 06:10:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:10:14 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:58:05 ago, cause: software
2025-04-29 06:10:14 [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
2025-04-29 06:10:14 [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
2025-04-29 06:10:14 [debug] Moves scheduled 28735, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=585, frequency (Hz): min=1515, max=15625
Sync err accum 81, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 0 ticks, enabled, next step interrupt due in 1477529431 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:10:14 [debug] Driver 0: pos -9602, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16003, writes 0 timeouts 0
2025-04-29 06:10:14 [debug] Last sensors broadcast 0x00000000 found 0 241 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 80, 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 381, adv 36321/37112
2025-04-29 06:10:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10402, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:10:14 [info] currentZPosition:0.0121
2025-04-29 06:10:16 [debug] Stopped at height 0.011 mm
2025-04-29 06:10:16 [debug] Diagnostics for board 50:
2025-04-29 06:10:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:10:16 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:58:07 ago, cause: software
2025-04-29 06:10:16 [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
2025-04-29 06:10:16 [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
2025-04-29 06:10:16 [debug] Moves scheduled 28739, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=540, frequency (Hz): min=1602, max=15306
Sync err accum 84, peak jitter 0/1, peak Rx delay 211, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1476436570 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 06:10:16 [debug] Driver 0: pos -9615, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17318, writes 0 timeouts 0
2025-04-29 06:10:16 [debug] Last sensors broadcast 0x00000000 found 0 200 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 94, 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 379, adv 35721/37130
2025-04-29 06:10:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10469, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4708, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:10:16 [info] currentZPosition:0.0108
2025-04-29 06:10:16 [debug] Stopped at height 0.011 mm
2025-04-29 06:10:17 [debug] Stopped at height 0.011 mm
2025-04-29 06:10:17 [debug] Diagnostics for board 50:
2025-04-29 06:10:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:10:17 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.9%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:58:09 ago, cause: software
2025-04-29 06:10:17 [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
2025-04-29 06:10:17 [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
2025-04-29 06:10:17 [debug] Moves scheduled 28745, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 383, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=533, frequency (Hz): min=1346, max=15306
Sync err accum 83, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1475169323 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max
2025-04-29 06:10:17 [debug] Driver 0: pos -9617, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20092, writes 0 timeouts 0
2025-04-29 06:10:17 [debug] Last sensors broadcast 0x00000000 found 0 137 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 103, 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 369, adv 35682/37160
2025-04-29 06:10:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10471, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:10:17 [info] currentZPosition:0.0106
2025-04-29 06:10:19 [debug] Stopped at height 0.012 mm
2025-04-29 06:10:19 [debug] Diagnostics for board 50:
2025-04-29 06:10:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:10:19 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:58:10 ago, cause: software
2025-04-29 06:10:19 [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
2025-04-29 06:10:19 [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
2025-04-29 06:10:19 [debug] Moves scheduled 28749, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=552, frequency (Hz): min=543, max=15306
Sync err accum 78, peak jitter -1/0, peak Rx delay 204, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 1474123592 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:10:19 [debug] Driver 0: pos -9605, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16456, writes 11 timeouts 1
2025-04-29 06:10:19 [debug] Last sensors broadcast 0x00000000 found 0 33 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 82, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 35683/37173
2025-04-29 06:10:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10419, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:10:19 [info] currentZPosition:0.0119
2025-04-29 06:10:19 [debug] Stopped at height 0.011 mm
2025-04-29 06:10:20 [debug] Stopped at height 0.012 mm
2025-04-29 06:10:20 [debug] Diagnostics for board 50:
2025-04-29 06:10:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:10:20 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.8%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:58:12 ago, cause: software
2025-04-29 06:10:20 [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
2025-04-29 06:10:20 [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
2025-04-29 06:10:20 [debug] Moves scheduled 28755, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 309, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=578, frequency (Hz): min=1431, max=15306
Sync err accum 65, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 1472867345 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 06:10:20 [debug] Driver 0: pos -9601, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 19949, writes 0 timeouts 0
2025-04-29 06:10:20 [debug] Last sensors broadcast 0x00000000 found 0 205 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 90, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 401, adv 35718/37156
2025-04-29 06:10:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10415, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:10:20 [info] currentZPosition:0.0123
2025-04-29 06:10:21 [debug] Stopped at height 0.012 mm
2025-04-29 06:10:22 [debug] Stopped at height 0.012 mm
2025-04-29 06:10:22 [debug] Diagnostics for board 50:
2025-04-29 06:10:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:10:22 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:58:13 ago, cause: software
2025-04-29 06:10:22 [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
2025-04-29 06:10:22 [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
2025-04-29 06:10:22 [debug] Moves scheduled 28761, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 348, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=641, frequency (Hz): min=1299, max=15306
Sync err accum 68, peak jitter -2/2, peak Rx delay 186, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 1471578025 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:10:22 [debug] Driver 0: pos -9601, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20621, writes 0 timeouts 0
2025-04-29 06:10:22 [debug] Last sensors broadcast 0x00000000 found 0 175 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 90, 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 405, adv 36343/37087
2025-04-29 06:10:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2269
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10387, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4695, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:10:22 [info] currentZPosition:0.0124
2025-04-29 06:10:24 [debug] Stopped at height 0.010 mm
2025-04-29 06:10:24 [debug] Diagnostics for board 50:
2025-04-29 06:10:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:10:24 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:58:15 ago, cause: software
2025-04-29 06:10:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:10:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:10:24 [debug] Moves scheduled 28765, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=668, frequency (Hz): min=1327, max=15306
Sync err accum 72, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1470511271 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:10:24 [debug] Driver 0: pos -9623, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16807, writes 0 timeouts 0
2025-04-29 06:10:24 [debug] Last sensors broadcast 0x00000000 found 0 102 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 102, 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 369, adv 35769/37154
2025-04-29 06:10:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10441, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:10:24 [info] currentZPosition:0.0102
2025-04-29 06:10:24 [debug] Stopped at height 0.010 mm
2025-04-29 06:10:25 [debug] Stopped at height 0.012 mm
2025-04-29 06:10:25 [debug] Diagnostics for board 50:
2025-04-29 06:10:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:10:25 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.9%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:58:17 ago, cause: software
2025-04-29 06:10:25 [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
2025-04-29 06:10:25 [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
2025-04-29 06:10:25 [debug] Moves scheduled 28771, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 284, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=578, frequency (Hz): min=1386, max=15306
Sync err accum 68, peak jitter -1/0, peak Rx delay 204, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1469239918 ticks, 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
2025-04-29 06:10:25 [debug] Driver 0: pos -9605, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20232, writes 0 timeouts 0
2025-04-29 06:10:25 [debug] Last sensors broadcast 0x00000000 found 0 47 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 95, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36203/37123
2025-04-29 06:10:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10441, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:10:25 [info] currentZPosition:0.0120
2025-04-29 06:10:26 [debug] Stopped at height 0.011 mm
2025-04-29 06:10:27 [debug] Stopped at height 0.011 mm
2025-04-29 06:10:27 [debug] Diagnostics for board 50:
2025-04-29 06:10:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:10:27 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:58:18 ago, cause: software
2025-04-29 06:10:27 [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
2025-04-29 06:10:27 [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
2025-04-29 06:10:27 [debug] Moves scheduled 28777, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 306, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=505, frequency (Hz): min=1552, max=15306
Sync err accum 64, peak jitter -2/2, peak Rx delay 198, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1467957464 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:10:27 [debug] Driver 0: pos -9612, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20353, writes 0 timeouts 0
2025-04-29 06:10:27 [debug] Last sensors broadcast 0x00000000 found 0 5 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 99, 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 426, adv 35873/37171
2025-04-29 06:10:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10419, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2279
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:10:27 [info] currentZPosition:0.0114
2025-04-29 06:10:28 [debug] Stopped at height 0.012 mm
2025-04-29 06:10:28 [debug] Diagnostics for board 50:
2025-04-29 06:10:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:10:28 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:58:20 ago, cause: software
2025-04-29 06:10:28 [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
2025-04-29 06:10:28 [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
2025-04-29 06:10:28 [debug] Moves scheduled 28781, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=758, frequency (Hz): min=748, max=15306
Sync err accum 63, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1466894442 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:10:28 [debug] Driver 0: pos -9611, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16676, writes 11 timeouts 1
2025-04-29 06:10:28 [debug] Last sensors broadcast 0x00000000 found 0 170 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 89, 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 369, adv 36184/37093
2025-04-29 06:10:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10443, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:10:28 [info] currentZPosition:0.0115
2025-04-29 06:10:30 [debug] Stopped at height 0.012 mm
2025-04-29 06:10:30 [debug] Diagnostics for board 50:
2025-04-29 06:10:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:10:30 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:58:21 ago, cause: software
2025-04-29 06:10:30 [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
2025-04-29 06:10:30 [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
2025-04-29 06:10:30 [debug] Moves scheduled 28785, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=462, frequency (Hz): min=1565, max=15306
Sync err accum 67, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 1465875365 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:10:30 [debug] Driver 0: pos -9605, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16059, writes 0 timeouts 0
2025-04-29 06:10:30 [debug] Last sensors broadcast 0x00000000 found 0 29 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 83, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36066/37118
2025-04-29 06:10:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10421, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:10:30 [info] currentZPosition:0.0121
2025-04-29 06:10:31 [debug] Stopped at height 0.012 mm
2025-04-29 06:10:31 [debug] Diagnostics for board 50:
2025-04-29 06:10:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:10:31 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:58:22 ago, cause: software
2025-04-29 06:10:31 [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
2025-04-29 06:10:31 [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
2025-04-29 06:10:31 [debug] Moves scheduled 28789, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=613, frequency (Hz): min=1196, max=15306
Sync err accum 68, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1464816749 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:10:31 [debug] Driver 0: pos -9602, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16706, writes 0 timeouts 0
2025-04-29 06:10:31 [debug] Last sensors broadcast 0x00000000 found 0 190 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 80, 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 369, adv 36111/37120
2025-04-29 06:10:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10378, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:10:31 [info] currentZPosition:0.0124
2025-04-29 06:10:33 [debug] Stopped at height 0.012 mm
2025-04-29 06:10:33 [debug] Diagnostics for board 50:
2025-04-29 06:10:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:10:33 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:58:24 ago, cause: software
2025-04-29 06:10:33 [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
2025-04-29 06:10:33 [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
2025-04-29 06:10:33 [debug] Moves scheduled 28793, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=881, frequency (Hz): min=1028, max=15306
Sync err accum 66, peak jitter -1/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 1463779743 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:10:33 [debug] Driver 0: pos -9607, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16396, writes 0 timeouts 0
2025-04-29 06:10:33 [debug] Last sensors broadcast 0x00000000 found 0 73 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 82, 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 372, adv 36113/37137
2025-04-29 06:10:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10392, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:10:33 [info] currentZPosition:0.0119
2025-04-29 06:10:34 [debug] Stopped at height 0.011 mm
2025-04-29 06:10:34 [debug] Diagnostics for board 50:
2025-04-29 06:10:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:10:34 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:58:25 ago, cause: software
2025-04-29 06:10:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:10:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:10:34 [debug] Moves scheduled 28797, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=570, frequency (Hz): min=1447, max=15306
Sync err accum 64, peak jitter -2/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1462698004 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max
2025-04-29 06:10:34 [debug] Driver 0: pos -9615, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17101, writes 0 timeouts 0
2025-04-29 06:10:34 [debug] Last sensors broadcast 0x00000000 found 0 18 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 91, 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 396, adv 36073/37146
2025-04-29 06:10:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10417, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4696, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:10:34 [info] currentZPosition:0.0111
2025-04-29 06:10:35 [debug] Stopped at height 0.012 mm
2025-04-29 06:10:35 [debug] Diagnostics for board 50:
2025-04-29 06:10:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:10:35 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:58:27 ago, cause: software
2025-04-29 06:10:35 [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
2025-04-29 06:10:35 [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
2025-04-29 06:10:35 [debug] Moves scheduled 28801, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 255, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=594, frequency (Hz): min=1575, max=15306
Sync err accum 67, peak jitter -1/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1461683780 ticks, 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
2025-04-29 06:10:35 [debug] Driver 0: pos -9607, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15954, writes 0 timeouts 0
2025-04-29 06:10:35 [debug] Last sensors broadcast 0x00000000 found 0 119 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 79, 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 390, adv 36173/37144
2025-04-29 06:10:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10420, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:10:35 [info] currentZPosition:0.0120
2025-04-29 06:10:37 [debug] Stopped at height 0.012 mm
2025-04-29 06:10:37 [debug] Diagnostics for board 50:
2025-04-29 06:10:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:10:37 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:58:28 ago, cause: software
2025-04-29 06:10:37 [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
2025-04-29 06:10:37 [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
2025-04-29 06:10:37 [debug] Moves scheduled 28805, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 241, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=602, frequency (Hz): min=1221, max=15306
Sync err accum 69, peak jitter 0/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1460610685 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:10:37 [debug] Driver 0: pos -9608, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16927, writes 0 timeouts 0
2025-04-29 06:10:37 [debug] Last sensors broadcast 0x00000000 found 0 48 ticks ago, 0 ordering errs, loop time 2
CAN messages queued 85, 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 396, adv 35941/37070
2025-04-29 06:10:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10446, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:10:37 [info] currentZPosition:0.0120
2025-04-29 06:10:38 [debug] Stopped at height 0.012 mm
2025-04-29 06:10:38 [debug] Diagnostics for board 50:
2025-04-29 06:10:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:10:38 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:58:29 ago, cause: software
2025-04-29 06:10:38 [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
2025-04-29 06:10:38 [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
2025-04-29 06:10:38 [debug] Moves scheduled 28809, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 558, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=597, frequency (Hz): min=1378, max=15306
Sync err accum 64, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 1459585431 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:10:38 [debug] Driver 0: pos -9607, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16182, writes 0 timeouts 0
2025-04-29 06:10:38 [debug] Last sensors broadcast 0x00000000 found 0 167 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 79, 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 469, adv 36141/37109
2025-04-29 06:10:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10426, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:10:38 [info] currentZPosition:0.0121
2025-04-29 06:10:40 [debug] Stopped at height 0.011 mm
2025-04-29 06:10:40 [debug] Diagnostics for board 50:
2025-04-29 06:10:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:10:40 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:58:31 ago, cause: software
2025-04-29 06:10:40 [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
2025-04-29 06:10:40 [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
2025-04-29 06:10:40 [debug] Moves scheduled 28813, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=500, frequency (Hz): min=1637, max=15306
Sync err accum 68, peak jitter -1/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 1458498976 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:10:40 [debug] Driver 0: pos -9616, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17134, writes 0 timeouts 0
2025-04-29 06:10:40 [debug] Last sensors broadcast 0x00000000 found 0 115 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 96, 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 380, adv 35956/37114
2025-04-29 06:10:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10427, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2280
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:10:40 [info] currentZPosition:0.0112
2025-04-29 06:10:41 [debug] Stopped at height 0.013 mm
2025-04-29 06:10:41 [debug] Diagnostics for board 50:
2025-04-29 06:10:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:10:41 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:58:32 ago, cause: software
2025-04-29 06:10:41 [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
2025-04-29 06:10:41 [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
2025-04-29 06:10:41 [debug] Moves scheduled 28817, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 320, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=577, frequency (Hz): min=1381, max=15306
Sync err accum 71, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1457502851 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 06:10:41 [debug] Driver 0: pos -9600, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15724, writes 0 timeouts 0
2025-04-29 06:10:41 [debug] Last sensors broadcast 0x00000000 found 0 193 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 81, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36198/37150
2025-04-29 06:10:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10375, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:10:41 [info] currentZPosition:0.0128
2025-04-29 06:10:41 [debug] Stopped at height 0.012 mm
2025-04-29 06:10:43 [debug] Stopped at height 0.012 mm
2025-04-29 06:10:43 [debug] Diagnostics for board 50:
2025-04-29 06:10:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:10:43 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.6%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:58:34 ago, cause: software
2025-04-29 06:10:43 [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
2025-04-29 06:10:43 [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
2025-04-29 06:10:43 [debug] Moves scheduled 28823, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=506, frequency (Hz): min=1708, max=15306
Sync err accum 72, peak jitter 0/1, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1456187042 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:10:43 [debug] Driver 0: pos -9609, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20942, writes 0 timeouts 0
2025-04-29 06:10:43 [debug] Last sensors broadcast 0x00000000 found 0 197 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 95, 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 369, adv 35907/37123
2025-04-29 06:10:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10427, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:10:43 [info] currentZPosition:0.0120
2025-04-29 06:10:44 [debug] Stopped at height 0.012 mm
2025-04-29 06:10:44 [debug] Diagnostics for board 50:
2025-04-29 06:10:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:10:44 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:58:35 ago, cause: software
2025-04-29 06:10:44 [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
2025-04-29 06:10:44 [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
2025-04-29 06:10:44 [debug] Moves scheduled 28827, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=606, frequency (Hz): min=1450, max=15625
Sync err accum 67, peak jitter -2/0, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1455159508 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:10:44 [debug] Driver 0: pos -9605, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16192, writes 0 timeouts 0
2025-04-29 06:10:44 [debug] Last sensors broadcast 0x00000000 found 0 68 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 85, 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 480, adv 36222/37132
2025-04-29 06:10:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10410, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:10:44 [info] currentZPosition:0.0124
2025-04-29 06:10:45 [debug] Stopped at height 0.013 mm
2025-04-29 06:10:45 [debug] Diagnostics for board 50:
2025-04-29 06:10:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:10:45 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:58:37 ago, cause: software
2025-04-29 06:10:45 [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
2025-04-29 06:10:45 [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
2025-04-29 06:10:45 [debug] Moves scheduled 28831, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=509, frequency (Hz): min=1773, max=15625
Sync err accum 64, peak jitter -2/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1454092919 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:10:45 [debug] Driver 0: pos -9604, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16869, writes 0 timeouts 0
2025-04-29 06:10:45 [debug] Last sensors broadcast 0x00000000 found 0 241 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 78, 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 366, adv 35808/37123
2025-04-29 06:10:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10383, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:10:46 [info] currentZPosition:0.0125
2025-04-29 06:10:47 [debug] Stopped at height 0.012 mm
2025-04-29 06:10:47 [debug] Diagnostics for board 50:
2025-04-29 06:10:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:10:47 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:58:38 ago, cause: software
2025-04-29 06:10:47 [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
2025-04-29 06:10:47 [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
2025-04-29 06:10:47 [debug] Moves scheduled 28835, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=466, frequency (Hz): min=1785, max=15306
Sync err accum 64, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1453045065 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:10:47 [debug] Driver 0: pos -9613, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16534, writes 0 timeouts 0
2025-04-29 06:10:47 [debug] Last sensors broadcast 0x00000000 found 0 137 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 85, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36337/37125
2025-04-29 06:10:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10432, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2280
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:10:47 [info] currentZPosition:0.0116
2025-04-29 06:10:48 [debug] Stopped at height 0.012 mm
2025-04-29 06:10:48 [debug] Diagnostics for board 50:
2025-04-29 06:10:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:10:48 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:58:40 ago, cause: software
2025-04-29 06:10:48 [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
2025-04-29 06:10:48 [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
2025-04-29 06:10:48 [debug] Moves scheduled 28839, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=616, frequency (Hz): min=1336, max=15625
Sync err accum 68, peak jitter -1/2, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1451982246 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:10:48 [debug] Driver 0: pos -9611, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16755, writes 0 timeouts 0
2025-04-29 06:10:48 [debug] Last sensors broadcast 0x00000000 found 0 54 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 92, 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 389, adv 35698/37123
2025-04-29 06:10:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10447, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:10:48 [info] currentZPosition:0.0118
2025-04-29 06:10:50 [debug] Stopped at height 0.012 mm
2025-04-29 06:10:50 [debug] Diagnostics for board 50:
2025-04-29 06:10:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:10:50 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:58:41 ago, cause: software
2025-04-29 06:10:50 [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
2025-04-29 06:10:50 [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
2025-04-29 06:10:50 [debug] Moves scheduled 28843, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 282, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=482, frequency (Hz): min=1700, max=15306
Sync err accum 72, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1450962365 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:10:50 [debug] Driver 0: pos -9605, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16114, writes 0 timeouts 0
2025-04-29 06:10:50 [debug] Last sensors broadcast 0x00000000 found 0 163 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 80, 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 368, adv 35663/37109
2025-04-29 06:10:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10429, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:10:50 [info] currentZPosition:0.0124
2025-04-29 06:10:51 [debug] Stopped at height 0.012 mm
2025-04-29 06:10:51 [debug] Diagnostics for board 50:
2025-04-29 06:10:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:10:51 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:58:42 ago, cause: software
2025-04-29 06:10:51 [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
2025-04-29 06:10:51 [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
2025-04-29 06:10:51 [debug] Moves scheduled 28847, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 343, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=461, frequency (Hz): min=1736, max=15306
Sync err accum 74, peak jitter -1/2, peak Rx delay 191, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1449885934 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:10:51 [debug] Driver 0: pos -9612, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17071, writes 0 timeouts 0
2025-04-29 06:10:51 [debug] Last sensors broadcast 0x00000000 found 0 99 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 89, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 35679/37083
2025-04-29 06:10:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10453, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:10:51 [info] currentZPosition:0.0118
2025-04-29 06:10:52 [debug] Stopped at height 0.013 mm
2025-04-29 06:10:52 [debug] Diagnostics for board 50:
2025-04-29 06:10:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:10:52 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.8%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:58:44 ago, cause: software
2025-04-29 06:10:52 [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
2025-04-29 06:10:52 [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
2025-04-29 06:10:52 [debug] Moves scheduled 28851, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=554, frequency (Hz): min=1630, max=15306
Sync err accum 70, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1448865458 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:10:52 [debug] Driver 0: pos -9605, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16024, writes 0 timeouts 0
2025-04-29 06:10:52 [debug] Last sensors broadcast 0x00000000 found 0 213 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 86, send timeouts 0, received 22, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 35626/37125
2025-04-29 06:10:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10397, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:10:53 [info] currentZPosition:0.0125
2025-04-29 06:10:54 [debug] Stopped at height 0.012 mm
2025-04-29 06:10:54 [debug] Diagnostics for board 50:
2025-04-29 06:10:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:10:54 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:58:45 ago, cause: software
2025-04-29 06:10:54 [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
2025-04-29 06:10:54 [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
2025-04-29 06:10:54 [debug] Moves scheduled 28855, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=412, frequency (Hz): min=1728, max=15306
Sync err accum 65, peak jitter -1/0, peak Rx delay 199, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1447773474 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:10:54 [debug] Driver 0: pos -9614, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17199, writes 0 timeouts 0
2025-04-29 06:10:54 [debug] Last sensors broadcast 0x00000000 found 0 165 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 87, 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 367, adv 35630/37147
2025-04-29 06:10:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10453, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:10:54 [info] currentZPosition:0.0116
2025-04-29 06:10:55 [debug] Stopped at height 0.012 mm
2025-04-29 06:10:55 [debug] Diagnostics for board 50:
2025-04-29 06:10:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:10:55 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.9%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:58:47 ago, cause: software
2025-04-29 06:10:55 [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
2025-04-29 06:10:55 [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
2025-04-29 06:10:55 [debug] Moves scheduled 28859, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 270, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=529, frequency (Hz): min=1630, max=15306
Sync err accum 64, peak jitter -2/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1446751043 ticks, 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
2025-04-29 06:10:55 [debug] Driver 0: pos -9610, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16030, writes 0 timeouts 0
2025-04-29 06:10:55 [debug] Last sensors broadcast 0x00000000 found 0 29 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 88, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 35645/37120
2025-04-29 06:10:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10448, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:10:55 [info] currentZPosition:0.0120
2025-04-29 06:10:57 [debug] Stopped at height 0.011 mm
2025-04-29 06:10:57 [debug] Diagnostics for board 50:
2025-04-29 06:10:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:10:57 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:58:48 ago, cause: software
2025-04-29 06:10:57 [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
2025-04-29 06:10:57 [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
2025-04-29 06:10:57 [debug] Moves scheduled 28863, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 159, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=597, frequency (Hz): min=1518, max=21428
Sync err accum 64, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1445671611 ticks, 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
2025-04-29 06:10:57 [debug] Driver 0: pos -9616, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17046, writes 0 timeouts 0
2025-04-29 06:10:57 [debug] Last sensors broadcast 0x00000000 found 0 219 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 90, 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 369, adv 36289/37105
2025-04-29 06:10:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10459, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:10:57 [info] currentZPosition:0.0114
2025-04-29 06:10:58 [debug] Stopped at height 0.012 mm
2025-04-29 06:10:58 [debug] Diagnostics for board 50:
2025-04-29 06:10:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:10:58 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:58:49 ago, cause: software
2025-04-29 06:10:58 [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
2025-04-29 06:10:58 [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
2025-04-29 06:10:58 [debug] Moves scheduled 28867, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=488, frequency (Hz): min=1768, max=15306
Sync err accum 70, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1444648938 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:10:58 [debug] Driver 0: pos -9613, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16149, writes 0 timeouts 0
2025-04-29 06:10:58 [debug] Last sensors broadcast 0x00000000 found 0 83 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 84, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 362, adv 35720/37118
2025-04-29 06:10:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10425, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2279
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:10:58 [info] currentZPosition:0.0117
2025-04-29 06:10:59 [debug] Stopped at height 0.012 mm
2025-04-29 06:10:59 [debug] Diagnostics for board 50:
2025-04-29 06:10:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:10:59 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:58:51 ago, cause: software
2025-04-29 06:10:59 [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
2025-04-29 06:10:59 [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
2025-04-29 06:10:59 [debug] Moves scheduled 28871, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=481, frequency (Hz): min=525, max=15306
Sync err accum 73, peak jitter -1/1, peak Rx delay 189, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1443594362 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 06:10:59 [debug] Driver 0: pos -9607, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16595, writes 11 timeouts 1
2025-04-29 06:10:59 [debug] Last sensors broadcast 0x00000000 found 0 237 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 86, 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 377, adv 36215/37122
2025-04-29 06:10:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10426, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:11:00 [info] currentZPosition:0.0124
2025-04-29 06:11:01 [debug] Stopped at height 0.012 mm
2025-04-29 06:11:01 [debug] Diagnostics for board 50:
2025-04-29 06:11:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:11:01 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.0%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:58:52 ago, cause: software
2025-04-29 06:11:01 [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
2025-04-29 06:11:01 [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
2025-04-29 06:11:01 [debug] Moves scheduled 28875, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=660, frequency (Hz): min=1203, max=15306
Sync err accum 74, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1442565653 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:11:01 [debug] Driver 0: pos -9608, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16355, writes 0 timeouts 0
2025-04-29 06:11:01 [debug] Last sensors broadcast 0x00000000 found 0 113 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 80, send timeouts 0, received 22, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 35766/37107
2025-04-29 06:11:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10396, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:11:01 [info] currentZPosition:0.0123
2025-04-29 06:11:02 [debug] Stopped at height 0.012 mm
2025-04-29 06:11:02 [debug] Diagnostics for board 50:
2025-04-29 06:11:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:11:02 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:58:54 ago, cause: software
2025-04-29 06:11:02 [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
2025-04-29 06:11:02 [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
2025-04-29 06:11:02 [debug] Moves scheduled 28879, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=482, frequency (Hz): min=670, max=15306
Sync err accum 69, peak jitter -2/0, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 1 ticks, disabled, next step interrupt due in 1441496220 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:11:02 [debug] Driver 0: pos -9608, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16869, writes 11 timeouts 1
2025-04-29 06:11:02 [debug] Last sensors broadcast 0x00000000 found 0 36 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 82, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36212/37136
2025-04-29 06:11:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10415, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:11:02 [info] currentZPosition:0.0123
2025-04-29 06:11:04 [debug] Stopped at height 0.012 mm
2025-04-29 06:11:04 [debug] Diagnostics for board 50:
2025-04-29 06:11:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:11:04 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:58:55 ago, cause: software
2025-04-29 06:11:04 [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
2025-04-29 06:11:04 [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
2025-04-29 06:11:04 [debug] Moves scheduled 28883, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=633, frequency (Hz): min=1325, max=15306
Sync err accum 64, peak jitter -2/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 1440453818 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:11:04 [debug] Driver 0: pos -9615, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16428, writes 0 timeouts 0
2025-04-29 06:11:04 [debug] Last sensors broadcast 0x00000000 found 0 179 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 93, 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 381, adv 35750/37171
2025-04-29 06:11:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10413, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:11:04 [info] currentZPosition:0.0116
2025-04-29 06:11:05 [debug] Stopped at height 0.010 mm
2025-04-29 06:11:05 [debug] Diagnostics for board 50:
2025-04-29 06:11:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:11:05 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.1%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:58:56 ago, cause: software
2025-04-29 06:11:05 [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
2025-04-29 06:11:05 [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
2025-04-29 06:11:05 [debug] Moves scheduled 28887, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=536, frequency (Hz): min=1524, max=15306
Sync err accum 71, peak jitter 1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1439351963 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 06:11:05 [debug] Driver 0: pos -9632, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17208, writes 0 timeouts 0
2025-04-29 06:11:05 [debug] Last sensors broadcast 0x00000000 found 0 144 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 105, 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 392, adv 36112/37095
2025-04-29 06:11:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10527, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2283
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:11:05 [info] currentZPosition:0.00994
2025-04-29 06:11:06 [debug] Stopped at height 0.009 mm
2025-04-29 06:11:07 [debug] Stopped at height 0.013 mm
2025-04-29 06:11:07 [debug] Diagnostics for board 50:
2025-04-29 06:11:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:11:07 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.9%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:58:58 ago, cause: software
2025-04-29 06:11:07 [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
2025-04-29 06:11:07 [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
2025-04-29 06:11:07 [debug] Moves scheduled 28893, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 421, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=468, frequency (Hz): min=1315, max=15306
Sync err accum 75, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1438136501 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:11:07 [debug] Driver 0: pos -9604, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 19134, writes 0 timeouts 0
2025-04-29 06:11:07 [debug] Last sensors broadcast 0x00000000 found 0 15 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 103, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 35802/37119
2025-04-29 06:11:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10434, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:11:07 [info] currentZPosition:0.0127
2025-04-29 06:11:07 [debug] Stopped at height 0.012 mm
2025-04-29 06:11:08 [debug] Stopped at height 0.013 mm
2025-04-29 06:11:08 [debug] Diagnostics for board 50:
2025-04-29 06:11:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:11:08 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.7%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.9%
Owned mutexes:
Last reset 16:59:00 ago, cause: software
2025-04-29 06:11:08 [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
2025-04-29 06:11:08 [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
2025-04-29 06:11:08 [debug] Moves scheduled 28899, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=538, frequency (Hz): min=1233, max=15306
Sync err accum 75, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1436824325 ticks, 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
2025-04-29 06:11:08 [debug] Driver 0: pos -9606, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20893, writes 0 timeouts 0
2025-04-29 06:11:08 [debug] Last sensors broadcast 0x00000000 found 0 17 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 93, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36095/37162
2025-04-29 06:11:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10432, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:11:09 [info] currentZPosition:0.0125
2025-04-29 06:11:10 [debug] Stopped at height 0.011 mm
2025-04-29 06:11:10 [debug] Diagnostics for board 50:
2025-04-29 06:11:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:11:10 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:59:01 ago, cause: software
2025-04-29 06:11:10 [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
2025-04-29 06:11:10 [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
2025-04-29 06:11:10 [debug] Moves scheduled 28903, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 331, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=560, frequency (Hz): min=1412, max=15306
Sync err accum 73, peak jitter -1/0, peak Rx delay 186, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1435772277 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:11:10 [debug] Driver 0: pos -9617, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16535, writes 0 timeouts 0
2025-04-29 06:11:10 [debug] Last sensors broadcast 0x00000000 found 0 166 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 87, 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 378, adv 35815/37115
2025-04-29 06:11:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10461, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:11:10 [info] currentZPosition:0.0114
2025-04-29 06:11:11 [debug] Stopped at height 0.012 mm
2025-04-29 06:11:11 [debug] Diagnostics for board 50:
2025-04-29 06:11:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:11:11 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:59:03 ago, cause: software
2025-04-29 06:11:11 [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
2025-04-29 06:11:11 [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
2025-04-29 06:11:11 [debug] Moves scheduled 28907, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=557, frequency (Hz): min=714, max=15306
Sync err accum 63, peak jitter -2/-1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 1434715916 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:11:11 [debug] Driver 0: pos -9611, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16672, writes 11 timeouts 1
2025-04-29 06:11:11 [debug] Last sensors broadcast 0x00000000 found 0 75 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 90, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36010/37119
2025-04-29 06:11:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10401, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:11:11 [info] currentZPosition:0.0120
2025-04-29 06:11:13 [debug] Stopped at height 0.012 mm
2025-04-29 06:11:13 [debug] Diagnostics for board 50:
2025-04-29 06:11:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:11:13 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:59:04 ago, cause: software
2025-04-29 06:11:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:11:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:11:13 [debug] Moves scheduled 28911, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=582, frequency (Hz): min=1376, max=15306
Sync err accum 68, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1433692147 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:11:13 [debug] Driver 0: pos -9608, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16179, writes 0 timeouts 0
2025-04-29 06:11:13 [debug] Last sensors broadcast 0x00000000 found 0 193 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 84, 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 378, adv 35885/37107
2025-04-29 06:11:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10433, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:11:13 [info] currentZPosition:0.0123
2025-04-29 06:11:14 [debug] Stopped at height 0.012 mm
2025-04-29 06:11:14 [debug] Diagnostics for board 50:
2025-04-29 06:11:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:11:14 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:59:05 ago, cause: software
2025-04-29 06:11:14 [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
2025-04-29 06:11:14 [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
2025-04-29 06:11:14 [debug] Moves scheduled 28915, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 304, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=542, frequency (Hz): min=762, max=15306
Sync err accum 71, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1432623091 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 3
2025-04-29 06:11:14 [debug] Driver 0: pos -9608, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16845, writes 11 timeouts 1
2025-04-29 06:11:14 [debug] Last sensors broadcast 0x00000000 found 0 117 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 83, 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 366, adv 35977/37116
2025-04-29 06:11:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10409, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:11:14 [info] currentZPosition:0.0123
2025-04-29 06:11:15 [debug] Stopped at height 0.013 mm
2025-04-29 06:11:15 [debug] Diagnostics for board 50:
2025-04-29 06:11:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:11:15 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.8%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:59:07 ago, cause: software
2025-04-29 06:11:15 [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
2025-04-29 06:11:15 [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
2025-04-29 06:11:15 [debug] Moves scheduled 28919, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=704, frequency (Hz): min=1308, max=15306
Sync err accum 72, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1431602214 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:11:15 [debug] Driver 0: pos -9604, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16031, writes 0 timeouts 0
2025-04-29 06:11:15 [debug] Last sensors broadcast 0x00000000 found 0 227 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 79, 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 379, adv 35906/37090
2025-04-29 06:11:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10402, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:11:16 [info] currentZPosition:0.0127
2025-04-29 06:11:17 [debug] Stopped at height 0.013 mm
2025-04-29 06:11:17 [debug] Diagnostics for board 50:
2025-04-29 06:11:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:11:17 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:59:08 ago, cause: software
2025-04-29 06:11:17 [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
2025-04-29 06:11:17 [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
2025-04-29 06:11:17 [debug] Moves scheduled 28923, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 272, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=500, frequency (Hz): min=1336, max=15306
Sync err accum 69, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1430534741 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:11:17 [debug] Driver 0: pos -9606, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16918, writes 0 timeouts 0
2025-04-29 06:11:17 [debug] Last sensors broadcast 0x00000000 found 0 151 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 83, 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 372, adv 35942/37097
2025-04-29 06:11:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10395, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:11:17 [info] currentZPosition:0.0125
2025-04-29 06:11:18 [debug] Stopped at height 0.011 mm
2025-04-29 06:11:18 [debug] Diagnostics for board 50:
2025-04-29 06:11:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:11:18 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:59:10 ago, cause: software
2025-04-29 06:11:18 [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
2025-04-29 06:11:18 [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
2025-04-29 06:11:18 [debug] Moves scheduled 28927, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=577, frequency (Hz): min=1356, max=15306
Sync err accum 63, peak jitter -2/0, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1429479585 ticks, 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
2025-04-29 06:11:18 [debug] Driver 0: pos -9617, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16588, writes 0 timeouts 0
2025-04-29 06:11:18 [debug] Last sensors broadcast 0x00000000 found 0 56 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 94, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 35899/37105
2025-04-29 06:11:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10437, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2280
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:11:18 [info] currentZPosition:0.0114
2025-04-29 06:11:20 [debug] Stopped at height 0.012 mm
2025-04-29 06:11:20 [debug] Diagnostics for board 50:
2025-04-29 06:11:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:11:20 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:59:11 ago, cause: software
2025-04-29 06:11:20 [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
2025-04-29 06:11:20 [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
2025-04-29 06:11:20 [debug] Moves scheduled 28931, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=537, frequency (Hz): min=1572, max=15306
Sync err accum 68, peak jitter 0/2, peak Rx delay 191, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1428424210 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 06:11:20 [debug] Driver 0: pos -9611, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16588, writes 0 timeouts 0
2025-04-29 06:11:20 [debug] Last sensors broadcast 0x00000000 found 0 215 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 81, 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 375, adv 35865/37107
2025-04-29 06:11:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10391, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:11:20 [info] currentZPosition:0.0120
2025-04-29 06:11:21 [debug] Stopped at height 0.013 mm
2025-04-29 06:11:21 [debug] Diagnostics for board 50:
2025-04-29 06:11:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:11:21 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:59:12 ago, cause: software
2025-04-29 06:11:21 [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
2025-04-29 06:11:21 [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
2025-04-29 06:11:21 [debug] Moves scheduled 28935, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=592, frequency (Hz): min=1417, max=15306
Sync err accum 73, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 0 ticks, enabled, next step interrupt due in 1427413842 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:11:21 [debug] Driver 0: pos -9601, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15918, writes 0 timeouts 0
2025-04-29 06:11:21 [debug] Last sensors broadcast 0x00000000 found 0 63 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 82, 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 389, adv 35830/37109
2025-04-29 06:11:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10397, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:11:21 [info] currentZPosition:0.0130
2025-04-29 06:11:22 [debug] Stopped at height 0.012 mm
2025-04-29 06:11:22 [debug] Diagnostics for board 50:
2025-04-29 06:11:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:11:22 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:59:14 ago, cause: software
2025-04-29 06:11:22 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:11:22 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:11:22 [debug] Moves scheduled 28939, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 381, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=510, frequency (Hz): min=1543, max=15306
Sync err accum 72, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1426334730 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:11:22 [debug] Driver 0: pos -9608, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17067, writes 0 timeouts 0
2025-04-29 06:11:22 [debug] Last sensors broadcast 0x00000000 found 0 4 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 86, 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 386, adv 35886/37118
2025-04-29 06:11:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10412, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:11:23 [info] currentZPosition:0.0123
2025-04-29 06:11:24 [debug] Stopped at height 0.013 mm
2025-04-29 06:11:24 [debug] Diagnostics for board 50:
2025-04-29 06:11:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:11:24 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.8%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:59:15 ago, cause: software
2025-04-29 06:11:24 [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
2025-04-29 06:11:24 [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
2025-04-29 06:11:24 [debug] Moves scheduled 28943, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=612, frequency (Hz): min=1450, max=15306
Sync err accum 70, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1425305716 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:11:24 [debug] Driver 0: pos -9606, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16155, writes 0 timeouts 0
2025-04-29 06:11:24 [debug] Last sensors broadcast 0x00000000 found 0 123 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 82, send timeouts 0, received 22, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 35783/37120
2025-04-29 06:11:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10407, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:11:24 [info] currentZPosition:0.0125
2025-04-29 06:11:25 [debug] Stopped at height 0.012 mm
2025-04-29 06:11:25 [debug] Diagnostics for board 50:
2025-04-29 06:11:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:11:25 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:59:17 ago, cause: software
2025-04-29 06:11:25 [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
2025-04-29 06:11:25 [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
2025-04-29 06:11:25 [debug] Moves scheduled 28947, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=521, frequency (Hz): min=1572, max=15306
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 1424231111 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:11:25 [debug] Driver 0: pos -9609, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16993, writes 0 timeouts 0
2025-04-29 06:11:25 [debug] Last sensors broadcast 0x00000000 found 0 58 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 83, 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 468, adv 35809/37090
2025-04-29 06:11:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10428, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:11:25 [info] currentZPosition:0.0122
2025-04-29 06:11:27 [debug] Stopped at height 0.012 mm
2025-04-29 06:11:27 [debug] Diagnostics for board 50:
2025-04-29 06:11:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:11:27 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:59:18 ago, cause: software
2025-04-29 06:11:27 [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
2025-04-29 06:11:27 [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
2025-04-29 06:11:27 [debug] Moves scheduled 28951, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=592, frequency (Hz): min=1450, max=15306
Sync err accum 69, peak jitter -2/3, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1423208102 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:11:27 [debug] Driver 0: pos -9607, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16082, writes 0 timeouts 0
2025-04-29 06:11:27 [debug] Last sensors broadcast 0x00000000 found 0 170 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 78, 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 450, adv 35781/37079
2025-04-29 06:11:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10432, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:11:27 [info] currentZPosition:0.0124
2025-04-29 06:11:28 [debug] Stopped at height 0.012 mm
2025-04-29 06:11:28 [debug] Diagnostics for board 50:
2025-04-29 06:11:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:11:28 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:59:19 ago, cause: software
2025-04-29 06:11:28 [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
2025-04-29 06:11:28 [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
2025-04-29 06:11:28 [debug] Moves scheduled 28955, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 164, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=504, frequency (Hz): min=1376, max=15306
Sync err accum 80, peak jitter 1/4, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1422141868 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 06:11:28 [debug] Driver 0: pos -9609, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16800, writes 0 timeouts 0
2025-04-29 06:11:28 [debug] Last sensors broadcast 0x00000000 found 0 89 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 85, 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 410, adv 35759/37102
2025-04-29 06:11:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10413, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:11:28 [info] currentZPosition:0.0122
2025-04-29 06:11:29 [debug] Stopped at height 0.011 mm
2025-04-29 06:11:29 [debug] Diagnostics for board 50:
2025-04-29 06:11:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:11:29 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:59:21 ago, cause: software
2025-04-29 06:11:29 [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
2025-04-29 06:11:29 [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
2025-04-29 06:11:29 [debug] Moves scheduled 28959, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=600, frequency (Hz): min=710, max=15306
Sync err accum 82, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 1421096484 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, curr
2025-04-29 06:11:29 [debug] Driver 0: pos -9619, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16488, writes 11 timeouts 1
2025-04-29 06:11:29 [debug] Last sensors broadcast 0x00000000 found 0 238 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 88, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 35801/37155
2025-04-29 06:11:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10446, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2279
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:11:30 [info] currentZPosition:0.0112
2025-04-29 06:11:31 [debug] Stopped at height 0.012 mm
2025-04-29 06:11:31 [debug] Diagnostics for board 50:
2025-04-29 06:11:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:11:31 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.7%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:59:22 ago, cause: software
2025-04-29 06:11:31 [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
2025-04-29 06:11:31 [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
2025-04-29 06:11:31 [debug] Moves scheduled 28963, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=686, frequency (Hz): min=1346, max=15306
Sync err accum 84, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1420046113 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:11:31 [debug] Driver 0: pos -9609, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16517, writes 0 timeouts 0
2025-04-29 06:11:31 [debug] Last sensors broadcast 0x00000000 found 0 135 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 85, 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 381, adv 35712/37120
2025-04-29 06:11:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10417, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2279
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:11:31 [info] currentZPosition:0.0122
2025-04-29 06:11:32 [debug] Stopped at height 0.012 mm
2025-04-29 06:11:32 [debug] Diagnostics for board 50:
2025-04-29 06:11:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:11:32 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:59:24 ago, cause: software
2025-04-29 06:11:32 [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
2025-04-29 06:11:32 [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
2025-04-29 06:11:32 [debug] Moves scheduled 28967, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=514, frequency (Hz): min=1700, max=15306
Sync err accum 80, peak jitter -2/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1419007249 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:11:32 [debug] Driver 0: pos -9614, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16350, writes 0 timeouts 0
2025-04-29 06:11:32 [debug] Last sensors broadcast 0x00000000 found 0 22 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 89, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 35801/37090
2025-04-29 06:11:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10410, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:11:32 [info] currentZPosition:0.0117
2025-04-29 06:11:34 [debug] Stopped at height 0.012 mm
2025-04-29 06:11:34 [debug] Diagnostics for board 50:
2025-04-29 06:11:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:11:34 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:59:25 ago, cause: software
2025-04-29 06:11:34 [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
2025-04-29 06:11:34 [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
2025-04-29 06:11:34 [debug] Moves scheduled 28971, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 365, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=640, frequency (Hz): min=1322, max=15306
Sync err accum 72, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1417943305 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max
2025-04-29 06:11:34 [debug] Driver 0: pos -9611, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16821, writes 0 timeouts 0
2025-04-29 06:11:34 [debug] Last sensors broadcast 0x00000000 found 0 195 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 85, 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 405, adv 35666/37140
2025-04-29 06:11:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10409, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4697, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:11:34 [info] currentZPosition:0.0120
2025-04-29 06:11:35 [debug] Stopped at height 0.012 mm
2025-04-29 06:11:35 [debug] Diagnostics for board 50:
2025-04-29 06:11:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:11:35 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.8%
Owned mutexes:
Last reset 16:59:26 ago, cause: software
2025-04-29 06:11:35 [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
2025-04-29 06:11:35 [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
2025-04-29 06:11:35 [debug] Moves scheduled 28975, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=640, frequency (Hz): min=1423, max=15306
Sync err accum 61, peak jitter -3/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1416920621 ticks, 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
2025-04-29 06:11:35 [debug] Driver 0: pos -9607, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16048, writes 0 timeouts 0
2025-04-29 06:11:35 [debug] Last sensors broadcast 0x00000000 found 0 52 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 84, 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 475, adv 35774/37114
2025-04-29 06:11:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10393, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:11:35 [info] currentZPosition:0.0124
2025-04-29 06:11:36 [debug] Stopped at height 0.012 mm
2025-04-29 06:11:36 [debug] Diagnostics for board 50:
2025-04-29 06:11:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:11:36 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:59:28 ago, cause: software
2025-04-29 06:11:36 [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
2025-04-29 06:11:36 [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
2025-04-29 06:11:36 [debug] Moves scheduled 28979, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 203, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=665, frequency (Hz): min=1381, max=15306
Sync err accum 70, peak jitter 0/3, peak Rx delay 195, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 1415852331 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:11:36 [debug] Driver 0: pos -9608, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16883, writes 0 timeouts 0
2025-04-29 06:11:36 [debug] Last sensors broadcast 0x00000000 found 0 226 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 88, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 35662/37113
2025-04-29 06:11:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10447, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:11:37 [info] currentZPosition:0.0123
2025-04-29 06:11:38 [debug] Stopped at height 0.012 mm
2025-04-29 06:11:38 [debug] Diagnostics for board 50:
2025-04-29 06:11:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:11:38 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:59:29 ago, cause: software
2025-04-29 06:11:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:11:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:11:38 [debug] Moves scheduled 28983, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=598, frequency (Hz): min=1497, max=15306
Sync err accum 86, peak jitter 2/3, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 0 ticks, enabled, next step interrupt due in 1414819137 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:11:38 [debug] Driver 0: pos -9612, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16365, writes 0 timeouts 0
2025-04-29 06:11:38 [debug] Last sensors broadcast 0x00000000 found 0 109 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 86, 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 422, adv 35884/37108
2025-04-29 06:11:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2280
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10442, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:11:38 [info] currentZPosition:0.0119
2025-04-29 06:11:39 [debug] Stopped at height 0.012 mm
2025-04-29 06:11:39 [debug] Diagnostics for board 50:
2025-04-29 06:11:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:11:39 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:59:31 ago, cause: software
2025-04-29 06:11:39 [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
2025-04-29 06:11:39 [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
2025-04-29 06:11:39 [debug] Moves scheduled 28987, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=542, frequency (Hz): min=1630, max=15306
Sync err accum 97, peak jitter 1/2, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1413744284 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 06:11:39 [debug] Driver 0: pos -9615, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16894, writes 0 timeouts 0
2025-04-29 06:11:39 [debug] Last sensors broadcast 0x00000000 found 0 39 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 90, 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 366, adv 35611/37163
2025-04-29 06:11:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10463, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:11:39 [info] currentZPosition:0.0116
2025-04-29 06:11:41 [debug] Stopped at height 0.012 mm
2025-04-29 06:11:41 [debug] Diagnostics for board 50:
2025-04-29 06:11:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:11:41 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.1%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:59:32 ago, cause: software
2025-04-29 06:11:41 [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
2025-04-29 06:11:41 [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
2025-04-29 06:11:41 [debug] Moves scheduled 28991, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=617, frequency (Hz): min=1488, max=15306
Sync err accum 104, peak jitter 0/2, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1412721435 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:11:41 [debug] Driver 0: pos -9612, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16000, writes 0 timeouts 0
2025-04-29 06:11:41 [debug] Last sensors broadcast 0x00000000 found 0 151 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 89, 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 416, adv 35901/37088
2025-04-29 06:11:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10450, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:11:41 [info] currentZPosition:0.0120
2025-04-29 06:11:42 [debug] Stopped at height 0.011 mm
2025-04-29 06:11:42 [debug] Diagnostics for board 50:
2025-04-29 06:11:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:11:42 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:59:33 ago, cause: software
2025-04-29 06:11:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:11:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:11:42 [debug] Moves scheduled 28995, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 242, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=437, frequency (Hz): min=1633, max=15625
Sync err accum 108, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1411640344 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, ma
2025-04-29 06:11:42 [debug] Driver 0: pos -9620, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17067, writes 0 timeouts 0
2025-04-29 06:11:42 [debug] Last sensors broadcast 0x00000000 found 0 94 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 95, 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 459, adv 36362/37107
2025-04-29 06:11:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10423, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4697, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:11:42 [info] currentZPosition:0.0112
2025-04-29 06:11:43 [debug] Stopped at height 0.013 mm
2025-04-29 06:11:43 [debug] Diagnostics for board 50:
2025-04-29 06:11:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:11:43 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 16:59:35 ago, cause: software
2025-04-29 06:11:43 [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
2025-04-29 06:11:43 [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
2025-04-29 06:11:43 [debug] Moves scheduled 28999, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 161, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=464, frequency (Hz): min=1549, max=15306
Sync err accum 106, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1410642367 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatu
2025-04-29 06:11:43 [debug] Driver 0: pos -9605, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15687, writes 0 timeouts 0
2025-04-29 06:11:43 [debug] Last sensors broadcast 0x00000000 found 0 174 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 78, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 35903/37099
2025-04-29 06:11:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10397, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:11:43 [info] currentZPosition:0.0127
2025-04-29 06:11:44 [debug] Stopped at height 0.011 mm
2025-04-29 06:11:45 [debug] Stopped at height 0.013 mm
2025-04-29 06:11:45 [debug] Diagnostics for board 50:
2025-04-29 06:11:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:11:45 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.5%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:59:36 ago, cause: software
2025-04-29 06:11:45 [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
2025-04-29 06:11:45 [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
2025-04-29 06:11:45 [debug] Moves scheduled 29005, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=638, frequency (Hz): min=1344, max=15306
Sync err accum 102, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1409346991 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, ma
2025-04-29 06:11:45 [debug] Driver 0: pos -9605, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20657, writes 0 timeouts 0
2025-04-29 06:11:45 [debug] Last sensors broadcast 0x00000000 found 0 152 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 100, 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 422, adv 36337/37120
2025-04-29 06:11:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10421, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:11:45 [info] currentZPosition:0.0127
2025-04-29 06:11:46 [debug] Stopped at height 0.012 mm
2025-04-29 06:11:47 [debug] Stopped at height 0.012 mm
2025-04-29 06:11:47 [debug] Diagnostics for board 50:
2025-04-29 06:11:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:11:47 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.8%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:59:38 ago, cause: software
2025-04-29 06:11:47 [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
2025-04-29 06:11:47 [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
2025-04-29 06:11:47 [debug] Moves scheduled 29011, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=520, frequency (Hz): min=1662, max=15306
Sync err accum 92, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1408074412 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:11:47 [debug] Driver 0: pos -9610, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20220, writes 0 timeouts 0
2025-04-29 06:11:47 [debug] Last sensors broadcast 0x00000000 found 0 97 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 102, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 35880/37123
2025-04-29 06:11:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10451, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:11:47 [info] currentZPosition:0.0122
2025-04-29 06:11:48 [debug] Stopped at height 0.014 mm
2025-04-29 06:11:48 [debug] Diagnostics for board 50:
2025-04-29 06:11:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:11:48 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:59:39 ago, cause: software
2025-04-29 06:11:48 [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
2025-04-29 06:11:48 [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
2025-04-29 06:11:48 [debug] Moves scheduled 29015, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 383, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=648, frequency (Hz): min=1269, max=15306
Sync err accum 77, peak jitter -3/-2, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1407039688 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, ma
2025-04-29 06:11:48 [debug] Driver 0: pos -9597, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16369, writes 0 timeouts 0
2025-04-29 06:11:48 [debug] Last sensors broadcast 0x00000000 found 0 229 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 79, 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 497, adv 36319/37073
2025-04-29 06:11:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10386, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2268
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:11:48 [info] currentZPosition:0.0135
2025-04-29 06:11:49 [debug] Stopped at height 0.013 mm
2025-04-29 06:11:50 [debug] Stopped at height 0.013 mm
2025-04-29 06:11:50 [debug] Diagnostics for board 50:
2025-04-29 06:11:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:11:50 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.3%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:59:41 ago, cause: software
2025-04-29 06:11:50 [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
2025-04-29 06:11:50 [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
2025-04-29 06:11:50 [debug] Moves scheduled 29021, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=525, frequency (Hz): min=1578, max=15306
Sync err accum 60, peak jitter -3/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1405762087 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:11:50 [debug] Driver 0: pos -9607, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20429, writes 0 timeouts 0
2025-04-29 06:11:50 [debug] Last sensors broadcast 0x00000000 found 0 180 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 91, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 35954/37149
2025-04-29 06:11:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10417, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:11:50 [info] currentZPosition:0.0125
2025-04-29 06:11:51 [debug] Stopped at height 0.012 mm
2025-04-29 06:11:51 [debug] Diagnostics for board 50:
2025-04-29 06:11:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:11:51 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:59:43 ago, cause: software
2025-04-29 06:11:51 [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
2025-04-29 06:11:51 [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
2025-04-29 06:11:51 [debug] Moves scheduled 29025, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=473, frequency (Hz): min=615, max=15306
Sync err accum 74, peak jitter 1/3, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1404694027 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 3
2025-04-29 06:11:51 [debug] Driver 0: pos -9610, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16854, writes 11 timeouts 1
2025-04-29 06:11:51 [debug] Last sensors broadcast 0x00000000 found 0 105 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 85, 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 357, adv 36264/37126
2025-04-29 06:11:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10424, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4696, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:11:51 [info] currentZPosition:0.0122
2025-04-29 06:11:53 [debug] Stopped at height 0.012 mm
2025-04-29 06:11:53 [debug] Diagnostics for board 50:
2025-04-29 06:11:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:11:53 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:59:44 ago, cause: software
2025-04-29 06:11:53 [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
2025-04-29 06:11:53 [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
2025-04-29 06:11:53 [debug] Moves scheduled 29029, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=609, frequency (Hz): min=1361, max=15306
Sync err accum 87, peak jitter 2/3, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1403669410 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:11:53 [debug] Driver 0: pos -9608, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16173, writes 0 timeouts 0
2025-04-29 06:11:53 [debug] Last sensors broadcast 0x00000000 found 0 221 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 82, 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 531, adv 36018/37163
2025-04-29 06:11:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10406, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:11:53 [info] currentZPosition:0.0124
2025-04-29 06:11:54 [debug] Stopped at height 0.012 mm
2025-04-29 06:11:54 [debug] Diagnostics for board 50:
2025-04-29 06:11:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:11:54 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:59:45 ago, cause: software
2025-04-29 06:11:54 [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
2025-04-29 06:11:54 [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
2025-04-29 06:11:54 [debug] Moves scheduled 29033, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=548, frequency (Hz): min=1592, max=15306
Sync err accum 98, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 1402589790 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:11:54 [debug] Driver 0: pos -9614, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16985, writes 0 timeouts 0
2025-04-29 06:11:54 [debug] Last sensors broadcast 0x00000000 found 0 160 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 88, 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 371, adv 36242/37104
2025-04-29 06:11:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10428, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:11:54 [info] currentZPosition:0.0118
2025-04-29 06:11:55 [debug] Stopped at height 0.013 mm
2025-04-29 06:11:55 [debug] Diagnostics for board 50:
2025-04-29 06:11:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:11:55 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:59:47 ago, cause: software
2025-04-29 06:11:55 [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
2025-04-29 06:11:55 [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
2025-04-29 06:11:55 [debug] Moves scheduled 29037, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=393, frequency (Hz): min=1693, max=15625
Sync err accum 104, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1401586494 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:11:55 [debug] Driver 0: pos -9601, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15835, writes 0 timeouts 0
2025-04-29 06:11:55 [debug] Last sensors broadcast 0x00000000 found 0 249 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 80, 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 397, adv 35958/37130
2025-04-29 06:11:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10399, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:11:56 [info] currentZPosition:0.0131
2025-04-29 06:11:56 [debug] Stopped at height 0.012 mm
2025-04-29 06:11:57 [debug] Stopped at height 0.013 mm
2025-04-29 06:11:57 [debug] Diagnostics for board 50:
2025-04-29 06:11:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:11:57 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.7%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:59:48 ago, cause: software
2025-04-29 06:11:57 [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
2025-04-29 06:11:57 [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
2025-04-29 06:11:57 [debug] Moves scheduled 29043, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 162, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=436, frequency (Hz): min=1700, max=15306
Sync err accum 109, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1400281963 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:11:57 [debug] Driver 0: pos -9607, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20762, writes 0 timeouts 0
2025-04-29 06:11:57 [debug] Last sensors broadcast 0x00000000 found 0 236 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 95, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36202/37109
2025-04-29 06:11:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10424, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:11:57 [info] currentZPosition:0.0125
2025-04-29 06:11:59 [debug] Stopped at height 0.012 mm
2025-04-29 06:11:59 [debug] Diagnostics for board 50:
2025-04-29 06:11:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:11:59 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:59:50 ago, cause: software
2025-04-29 06:11:59 [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
2025-04-29 06:11:59 [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
2025-04-29 06:11:59 [debug] Moves scheduled 29047, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=429, frequency (Hz): min=1552, max=15306
Sync err accum 107, peak jitter -1/1, peak Rx delay 197, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1399247631 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatu
2025-04-29 06:11:59 [debug] Driver 0: pos -9609, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16261, writes 0 timeouts 0
2025-04-29 06:11:59 [debug] Last sensors broadcast 0x00000000 found 0 114 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 84, 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 360, adv 35981/37127
2025-04-29 06:11:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10435, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:11:59 [info] currentZPosition:0.0123
2025-04-29 06:12:00 [debug] Stopped at height 0.012 mm
2025-04-29 06:12:00 [debug] Diagnostics for board 50:
2025-04-29 06:12:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:12:00 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:59:51 ago, cause: software
2025-04-29 06:12:00 [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
2025-04-29 06:12:00 [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
2025-04-29 06:12:00 [debug] Moves scheduled 29051, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 341, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=629, frequency (Hz): min=1373, max=15625
Sync err accum 101, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 1398186710 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 06:12:00 [debug] Driver 0: pos -9608, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16750, writes 0 timeouts 0
2025-04-29 06:12:00 [debug] Last sensors broadcast 0x00000000 found 0 32 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 85, 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 576, adv 36184/37108
2025-04-29 06:12:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10445, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:12:00 [info] currentZPosition:0.0124
2025-04-29 06:12:01 [debug] Stopped at height 0.012 mm
2025-04-29 06:12:01 [debug] Diagnostics for board 50:
2025-04-29 06:12:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:12:01 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:59:53 ago, cause: software
2025-04-29 06:12:01 [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
2025-04-29 06:12:01 [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
2025-04-29 06:12:01 [debug] Moves scheduled 29055, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=489, frequency (Hz): min=1602, max=15306
Sync err accum 93, peak jitter -2/-1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 1397148237 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 06:12:01 [debug] Driver 0: pos -9614, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16355, writes 0 timeouts 0
2025-04-29 06:12:01 [debug] Last sensors broadcast 0x00000000 found 0 165 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 86, 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 378, adv 35989/37087
2025-04-29 06:12:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10413, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:12:01 [info] currentZPosition:0.0118
2025-04-29 06:12:03 [debug] Stopped at height 0.012 mm
2025-04-29 06:12:03 [debug] Diagnostics for board 50:
2025-04-29 06:12:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:12:03 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 16:59:54 ago, cause: software
2025-04-29 06:12:03 [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
2025-04-29 06:12:03 [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
2025-04-29 06:12:03 [debug] Moves scheduled 29059, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=654, frequency (Hz): min=865, max=15306
Sync err accum 81, peak jitter -2/-1, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1396090756 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:12:03 [debug] Driver 0: pos -9610, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16638, writes 11 timeouts 1
2025-04-29 06:12:03 [debug] Last sensors broadcast 0x00000000 found 0 77 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 90, 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 449, adv 36204/37102
2025-04-29 06:12:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10407, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4697, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:12:03 [info] currentZPosition:0.0122
2025-04-29 06:12:04 [debug] Stopped at height 0.012 mm
2025-04-29 06:12:04 [debug] Diagnostics for board 50:
2025-04-29 06:12:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:12:04 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.8%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:59:55 ago, cause: software
2025-04-29 06:12:04 [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
2025-04-29 06:12:04 [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
2025-04-29 06:12:04 [debug] Moves scheduled 29063, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=526, frequency (Hz): min=1599, max=15306
Sync err accum 63, peak jitter -3/-2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 1395059465 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 06:12:04 [debug] Driver 0: pos -9611, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16195, writes 0 timeouts 0
2025-04-29 06:12:04 [debug] Last sensors broadcast 0x00000000 found 0 201 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 83, send timeouts 0, received 22, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36079/37139
2025-04-29 06:12:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2279
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10419, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4697, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:12:04 [info] currentZPosition:0.0122
2025-04-29 06:12:06 [debug] Stopped at height 0.012 mm
2025-04-29 06:12:06 [debug] Diagnostics for board 50:
2025-04-29 06:12:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:12:06 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 16:59:57 ago, cause: software
2025-04-29 06:12:06 [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
2025-04-29 06:12:06 [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
2025-04-29 06:12:06 [debug] Moves scheduled 29067, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=673, frequency (Hz): min=1277, max=15306
Sync err accum 66, peak jitter -1/2, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1393997216 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:12:06 [debug] Driver 0: pos -9611, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16713, writes 0 timeouts 0
2025-04-29 06:12:06 [debug] Last sensors broadcast 0x00000000 found 0 117 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 87, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36152/37092
2025-04-29 06:12:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10407, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:12:06 [info] currentZPosition:0.0122
2025-04-29 06:12:07 [debug] Stopped at height 0.013 mm
2025-04-29 06:12:07 [debug] Diagnostics for board 50:
2025-04-29 06:12:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:12:07 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 16:59:58 ago, cause: software
2025-04-29 06:12:07 [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
2025-04-29 06:12:07 [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
2025-04-29 06:12:07 [debug] Moves scheduled 29071, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 292, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=686, frequency (Hz): min=1373, max=15306
Sync err accum 79, peak jitter 1/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 1392989740 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:12:07 [debug] Driver 0: pos -9601, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15885, writes 0 timeouts 0
2025-04-29 06:12:07 [debug] Last sensors broadcast 0x00000000 found 0 211 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 83, 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 386, adv 36042/37141
2025-04-29 06:12:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2268
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10387, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:12:07 [info] currentZPosition:0.0132
2025-04-29 06:12:08 [debug] Stopped at height 0.011 mm
2025-04-29 06:12:08 [debug] Diagnostics for board 50:
2025-04-29 06:12:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:12:08 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:00:00 ago, cause: software
2025-04-29 06:12:08 [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
2025-04-29 06:12:08 [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
2025-04-29 06:12:08 [debug] Moves scheduled 29075, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 313, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=585, frequency (Hz): min=1353, max=15306
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 1391892748 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:12:08 [debug] Driver 0: pos -9621, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17341, writes 0 timeouts 0
2025-04-29 06:12:08 [debug] Last sensors broadcast 0x00000000 found 0 174 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 92, 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 392, adv 36075/37159
2025-04-29 06:12:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10454, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2279
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:12:08 [info] currentZPosition:0.0112
2025-04-29 06:12:09 [debug] Stopped at height 0.012 mm
2025-04-29 06:12:10 [debug] Stopped at height 0.012 mm
2025-04-29 06:12:10 [debug] Diagnostics for board 50:
2025-04-29 06:12:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:12:10 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.2%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:00:01 ago, cause: software
2025-04-29 06:12:10 [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
2025-04-29 06:12:10 [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
2025-04-29 06:12:10 [debug] Moves scheduled 29081, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=737, frequency (Hz): min=1198, max=15306
Sync err accum 89, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1390650859 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:12:10 [debug] Driver 0: pos -9612, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 19677, writes 0 timeouts 0
2025-04-29 06:12:10 [debug] Last sensors broadcast 0x00000000 found 0 79 ticks ago, 0 ordering errs, loop time 2
CAN messages queued 106, 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 369, adv 36046/37117
2025-04-29 06:12:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2269
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10412, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4697, no error
Lin: Encoder reverse polarity: no, raw count 2279
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:12:10 [info] currentZPosition:0.0123
2025-04-29 06:12:11 [debug] Stopped at height 0.013 mm
2025-04-29 06:12:11 [debug] Diagnostics for board 50:
2025-04-29 06:12:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:12:11 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:00:03 ago, cause: software
2025-04-29 06:12:11 [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
2025-04-29 06:12:11 [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
2025-04-29 06:12:11 [debug] Moves scheduled 29085, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 161, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=560, frequency (Hz): min=1633, max=15306
Sync err accum 86, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1389603877 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:12:11 [debug] Driver 0: pos -9603, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16502, writes 0 timeouts 0
2025-04-29 06:12:11 [debug] Last sensors broadcast 0x00000000 found 0 223 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 80, 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 368, adv 36122/37166
2025-04-29 06:12:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10392, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:12:12 [info] currentZPosition:0.0132
2025-04-29 06:12:13 [debug] Stopped at height 0.013 mm
2025-04-29 06:12:13 [debug] Diagnostics for board 50:
2025-04-29 06:12:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:12:13 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:00:04 ago, cause: software
2025-04-29 06:12:13 [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
2025-04-29 06:12:13 [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
2025-04-29 06:12:13 [debug] Moves scheduled 29089, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 302, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=645, frequency (Hz): min=1464, max=15306
Sync err accum 78, peak jitter -2/-1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 1388572623 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 06:12:13 [debug] Driver 0: pos -9606, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16316, writes 0 timeouts 0
2025-04-29 06:12:13 [debug] Last sensors broadcast 0x00000000 found 0 100 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 80, 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 376, adv 36049/37100
2025-04-29 06:12:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10408, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:12:13 [info] currentZPosition:0.0129
2025-04-29 06:12:14 [debug] Stopped at height 0.012 mm
2025-04-29 06:12:14 [debug] Diagnostics for board 50:
2025-04-29 06:12:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:12:14 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:00:06 ago, cause: software
2025-04-29 06:12:14 [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
2025-04-29 06:12:14 [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
2025-04-29 06:12:14 [debug] Moves scheduled 29093, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 266, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=485, frequency (Hz): min=1518, max=15306
Sync err accum 69, peak jitter -2/-1, peak Rx delay 186, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1387487476 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, ma
2025-04-29 06:12:14 [debug] Driver 0: pos -9615, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17160, writes 0 timeouts 0
2025-04-29 06:12:14 [debug] Last sensors broadcast 0x00000000 found 0 54 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 93, 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 379, adv 36064/37118
2025-04-29 06:12:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10441, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2279
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:12:14 [info] currentZPosition:0.0120
2025-04-29 06:12:16 [debug] Stopped at height 0.012 mm
2025-04-29 06:12:16 [debug] Diagnostics for board 50:
2025-04-29 06:12:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:12:16 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:00:07 ago, cause: software
2025-04-29 06:12:16 [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
2025-04-29 06:12:16 [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
2025-04-29 06:12:16 [debug] Moves scheduled 29097, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=592, frequency (Hz): min=1083, max=15306
Sync err accum 60, peak jitter -2/0, peak Rx delay 192, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 1386459125 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:12:16 [debug] Driver 0: pos -9612, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16213, writes 0 timeouts 0
2025-04-29 06:12:16 [debug] Last sensors broadcast 0x00000000 found 0 168 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 82, 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 385, adv 36185/37096
2025-04-29 06:12:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10405, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:12:16 [info] currentZPosition:0.0123
2025-04-29 06:12:17 [debug] Stopped at height 0.013 mm
2025-04-29 06:12:17 [debug] Diagnostics for board 50:
2025-04-29 06:12:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:12:17 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:00:08 ago, cause: software
2025-04-29 06:12:17 [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
2025-04-29 06:12:17 [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
2025-04-29 06:12:17 [debug] Moves scheduled 29101, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=516, frequency (Hz): min=1320, max=15306
Sync err accum 76, peak jitter 1/3, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1385402477 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 06:12:17 [debug] Driver 0: pos -9609, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16675, writes 0 timeouts 0
2025-04-29 06:12:17 [debug] Last sensors broadcast 0x00000000 found 0 75 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 81, 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 348, adv 36095/37136
2025-04-29 06:12:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10436, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:12:17 [info] currentZPosition:0.0126
2025-04-29 06:12:18 [debug] Stopped at height 0.012 mm
2025-04-29 06:12:18 [debug] Diagnostics for board 50:
2025-04-29 06:12:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:12:18 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:00:10 ago, cause: software
2025-04-29 06:12:18 [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
2025-04-29 06:12:18 [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
2025-04-29 06:12:18 [debug] Moves scheduled 29105, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 432, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=1092, frequency (Hz): min=885, max=15306
Sync err accum 88, peak jitter 2/2, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1384367216 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:12:18 [debug] Driver 0: pos -9612, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16342, writes 0 timeouts 0
2025-04-29 06:12:18 [debug] Last sensors broadcast 0x00000000 found 0 210 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 84, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 371, adv 36359/37142
2025-04-29 06:12:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10421, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:12:19 [info] currentZPosition:0.0123
2025-04-29 06:12:20 [debug] Stopped at height 0.012 mm
2025-04-29 06:12:20 [debug] Diagnostics for board 50:
2025-04-29 06:12:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:12:20 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:00:11 ago, cause: software
2025-04-29 06:12:20 [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
2025-04-29 06:12:20 [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
2025-04-29 06:12:20 [debug] Moves scheduled 29109, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 372, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=820, frequency (Hz): min=1016, max=15306
Sync err accum 96, peak jitter 0/2, peak Rx delay 198, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1383302184 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:12:20 [debug] Driver 0: pos -9612, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16770, writes 0 timeouts 0
2025-04-29 06:12:20 [debug] Last sensors broadcast 0x00000000 found 0 128 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 85, 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 387, adv 36028/37088
2025-04-29 06:12:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10430, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:12:20 [info] currentZPosition:0.0123
2025-04-29 06:12:21 [debug] Stopped at height 0.013 mm
2025-04-29 06:12:21 [debug] Diagnostics for board 50:
2025-04-29 06:12:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:12:21 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.7%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:00:12 ago, cause: software
2025-04-29 06:12:21 [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
2025-04-29 06:12:21 [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
2025-04-29 06:12:21 [debug] Moves scheduled 29113, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=706, frequency (Hz): min=1336, max=15306
Sync err accum 101, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1382290181 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:12:21 [debug] Driver 0: pos -9601, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15916, writes 0 timeouts 0
2025-04-29 06:12:21 [debug] Last sensors broadcast 0x00000000 found 0 226 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 80, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36297/37162
2025-04-29 06:12:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2269
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10388, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:12:21 [info] currentZPosition:0.0134
2025-04-29 06:12:23 [debug] Stopped at height 0.012 mm
2025-04-29 06:12:23 [debug] Diagnostics for board 50:
2025-04-29 06:12:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:12:23 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.2%
Owned mutexes:
Last reset 17:00:14 ago, cause: software
2025-04-29 06:12:23 [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
2025-04-29 06:12:23 [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
2025-04-29 06:12:23 [debug] Moves scheduled 29117, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=548, frequency (Hz): min=1476, max=15306
Sync err accum 104, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1381199333 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:12:23 [debug] Driver 0: pos -9614, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17302, writes 0 timeouts 0
2025-04-29 06:12:23 [debug] Last sensors broadcast 0x00000000 found 0 187 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 93, 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 381, adv 36095/37135
2025-04-29 06:12:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10424, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4696, no error
Lin: Encoder reverse polarity: no, raw count 2280
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:12:23 [info] currentZPosition:0.0121
2025-04-29 06:12:23 [debug] Stopped at height 0.011 mm
2025-04-29 06:12:24 [debug] Stopped at height 0.012 mm
2025-04-29 06:12:24 [debug] Diagnostics for board 50:
2025-04-29 06:12:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:12:24 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.9%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:00:16 ago, cause: software
2025-04-29 06:12:24 [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
2025-04-29 06:12:24 [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
2025-04-29 06:12:24 [debug] Moves scheduled 29123, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=577, frequency (Hz): min=1431, max=15625
Sync err accum 103, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1379921629 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, ma
2025-04-29 06:12:24 [debug] Driver 0: pos -9616, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20224, writes 0 timeouts 0
2025-04-29 06:12:24 [debug] Last sensors broadcast 0x00000000 found 0 135 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 111, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36288/37152
2025-04-29 06:12:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10448, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4694, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:12:24 [info] currentZPosition:0.0119
2025-04-29 06:12:26 [debug] Stopped at height 0.012 mm
2025-04-29 06:12:26 [debug] Diagnostics for board 50:
2025-04-29 06:12:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:12:26 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 17:00:17 ago, cause: software
2025-04-29 06:12:26 [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
2025-04-29 06:12:26 [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
2025-04-29 06:12:26 [debug] Moves scheduled 29127, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 242, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=633, frequency (Hz): min=1366, max=15306
Sync err accum 95, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1378861853 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, ma
2025-04-29 06:12:26 [debug] Driver 0: pos -9614, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16674, writes 0 timeouts 0
2025-04-29 06:12:26 [debug] Last sensors broadcast 0x00000000 found 0 48 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 91, send timeouts 0, received 22, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36008/37084
2025-04-29 06:12:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10409, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:12:26 [info] currentZPosition:0.0121
2025-04-29 06:12:27 [debug] Stopped at height 0.013 mm
2025-04-29 06:12:27 [debug] Diagnostics for board 50:
2025-04-29 06:12:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:12:27 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 17:00:18 ago, cause: software
2025-04-29 06:12:27 [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
2025-04-29 06:12:27 [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
2025-04-29 06:12:27 [debug] Moves scheduled 29131, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=658, frequency (Hz): min=1391, max=15306
Sync err accum 87, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 1377842899 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 06:12:27 [debug] Driver 0: pos -9608, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16022, writes 0 timeouts 0
2025-04-29 06:12:27 [debug] Last sensors broadcast 0x00000000 found 0 158 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 83, 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 347, adv 36340/37150
2025-04-29 06:12:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10437, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4697, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:12:27 [info] currentZPosition:0.0127
2025-04-29 06:12:29 [debug] Stopped at height 0.012 mm
2025-04-29 06:12:29 [debug] Diagnostics for board 50:
2025-04-29 06:12:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:12:29 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:00:20 ago, cause: software
2025-04-29 06:12:29 [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
2025-04-29 06:12:29 [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
2025-04-29 06:12:29 [debug] Moves scheduled 29135, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=604, frequency (Hz): min=1215, max=15306
Sync err accum 73, peak jitter -3/-1, peak Rx delay 220, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1376769704 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 06:12:29 [debug] Driver 0: pos -9614, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16912, writes 0 timeouts 0
2025-04-29 06:12:29 [debug] Last sensors broadcast 0x00000000 found 0 86 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 91, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36043/37100
2025-04-29 06:12:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10463, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:12:29 [info] currentZPosition:0.0121
2025-04-29 06:12:30 [debug] Stopped at height 0.013 mm
2025-04-29 06:12:30 [debug] Diagnostics for board 50:
2025-04-29 06:12:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:12:30 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:00:21 ago, cause: software
2025-04-29 06:12:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:12:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:12:30 [debug] Moves scheduled 29139, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=592, frequency (Hz): min=1588, max=15306
Sync err accum 61, peak jitter -3/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1375762574 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:12:30 [debug] Driver 0: pos -9603, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15899, writes 0 timeouts 0
2025-04-29 06:12:30 [debug] Last sensors broadcast 0x00000000 found 0 179 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 81, send timeouts 0, received 22, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36304/37120
2025-04-29 06:12:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10386, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:12:30 [info] currentZPosition:0.0132
2025-04-29 06:12:31 [debug] Stopped at height 0.012 mm
2025-04-29 06:12:31 [debug] Diagnostics for board 50:
2025-04-29 06:12:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:12:31 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:00:23 ago, cause: software
2025-04-29 06:12:31 [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
2025-04-29 06:12:31 [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
2025-04-29 06:12:31 [debug] Moves scheduled 29143, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=476, frequency (Hz): min=1488, max=15306
Sync err accum 71, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1374678106 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:12:31 [debug] Driver 0: pos -9615, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17211, writes 0 timeouts 0
2025-04-29 06:12:31 [debug] Last sensors broadcast 0x00000000 found 0 127 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 91, 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 510, adv 36075/37155
2025-04-29 06:12:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10465, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4697, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:12:31 [info] currentZPosition:0.0120
2025-04-29 06:12:33 [debug] Stopped at height 0.013 mm
2025-04-29 06:12:33 [debug] Diagnostics for board 50:
2025-04-29 06:12:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:12:33 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:00:24 ago, cause: software
2025-04-29 06:12:33 [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
2025-04-29 06:12:33 [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
2025-04-29 06:12:33 [debug] Moves scheduled 29147, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=546, frequency (Hz): min=1569, max=15625
Sync err accum 79, peak jitter 0/2, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1373664836 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:12:33 [debug] Driver 0: pos -9607, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15986, writes 0 timeouts 0
2025-04-29 06:12:33 [debug] Last sensors broadcast 0x00000000 found 0 227 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 82, 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 416, adv 36279/37135
2025-04-29 06:12:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10394, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:12:33 [info] currentZPosition:0.0128
2025-04-29 06:12:34 [debug] Stopped at height 0.013 mm
2025-04-29 06:12:34 [debug] Diagnostics for board 50:
2025-04-29 06:12:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:12:34 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:00:25 ago, cause: software
2025-04-29 06:12:34 [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
2025-04-29 06:12:34 [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
2025-04-29 06:12:34 [debug] Moves scheduled 29151, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 161, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=462, frequency (Hz): min=1693, max=15306
Sync err accum 85, peak jitter 0/2, peak Rx delay 186, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 1372604152 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:12:34 [debug] Driver 0: pos -9606, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16796, writes 0 timeouts 0
2025-04-29 06:12:34 [debug] Last sensors broadcast 0x00000000 found 0 140 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 81, 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 389, adv 36046/37099
2025-04-29 06:12:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10434, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4708, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:12:34 [info] currentZPosition:0.0129
2025-04-29 06:12:35 [debug] Stopped at height 0.013 mm
2025-04-29 06:12:35 [debug] Diagnostics for board 50:
2025-04-29 06:12:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:12:35 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:00:27 ago, cause: software
2025-04-29 06:12:35 [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
2025-04-29 06:12:35 [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
2025-04-29 06:12:35 [debug] Moves scheduled 29155, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=725, frequency (Hz): min=1031, max=15957
Sync err accum 84, peak jitter -1/0, peak Rx delay 194, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1371571019 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:12:35 [debug] Driver 0: pos -9608, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16379, writes 0 timeouts 0
2025-04-29 06:12:35 [debug] Last sensors broadcast 0x00000000 found 0 22 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 80, 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 444, adv 36332/37127
2025-04-29 06:12:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10433, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:12:36 [info] currentZPosition:0.0127
2025-04-29 06:12:37 [debug] Stopped at height 0.012 mm
2025-04-29 06:12:37 [debug] Diagnostics for board 50:
2025-04-29 06:12:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:12:37 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:00:28 ago, cause: software
2025-04-29 06:12:37 [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
2025-04-29 06:12:37 [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
2025-04-29 06:12:37 [debug] Moves scheduled 29159, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=604, frequency (Hz): min=875, max=15306
Sync err accum 81, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1370495793 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:12:37 [debug] Driver 0: pos -9613, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16875, writes 11 timeouts 1
2025-04-29 06:12:37 [debug] Last sensors broadcast 0x00000000 found 0 203 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 85, 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 393, adv 36046/37123
2025-04-29 06:12:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10438, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2280
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:12:37 [info] currentZPosition:0.0122
2025-04-29 06:12:38 [debug] Stopped at height 0.012 mm
2025-04-29 06:12:38 [debug] Diagnostics for board 50:
2025-04-29 06:12:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:12:38 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 17:00:30 ago, cause: software
2025-04-29 06:12:38 [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
2025-04-29 06:12:38 [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
2025-04-29 06:12:38 [debug] Moves scheduled 29163, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=565, frequency (Hz): min=1417, max=15306
Sync err accum 75, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 1369459620 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:12:38 [debug] Driver 0: pos -9617, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16273, writes 0 timeouts 0
2025-04-29 06:12:38 [debug] Last sensors broadcast 0x00000000 found 0 83 ticks ago, 0 ordering errs, loop time 2
CAN messages queued 90, send timeouts 0, received 22, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36301/37122
2025-04-29 06:12:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10467, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:12:38 [info] currentZPosition:0.0118
2025-04-29 06:12:40 [debug] Stopped at height 0.013 mm
2025-04-29 06:12:40 [debug] Diagnostics for board 50:
2025-04-29 06:12:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:12:40 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:00:31 ago, cause: software
2025-04-29 06:12:40 [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
2025-04-29 06:12:40 [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
2025-04-29 06:12:40 [debug] Moves scheduled 29167, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=633, frequency (Hz): min=1371, max=18750
Sync err accum 64, peak jitter -2/-1, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1368419235 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, ma
2025-04-29 06:12:40 [debug] Driver 0: pos -9603, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16414, writes 0 timeouts 0
2025-04-29 06:12:40 [debug] Last sensors broadcast 0x00000000 found 0 223 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 79, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36033/37123
2025-04-29 06:12:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10419, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:12:40 [info] currentZPosition:0.0132
2025-04-29 06:12:40 [debug] Stopped at height 0.012 mm
2025-04-29 06:12:41 [debug] Stopped at height 0.013 mm
2025-04-29 06:12:41 [debug] Diagnostics for board 50:
2025-04-29 06:12:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:12:41 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.8%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:00:33 ago, cause: software
2025-04-29 06:12:41 [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
2025-04-29 06:12:41 [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
2025-04-29 06:12:41 [debug] Moves scheduled 29173, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=602, frequency (Hz): min=1247, max=15306
Sync err accum 70, peak jitter -2/3, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1367139459 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:12:41 [debug] Driver 0: pos -9611, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20325, writes 0 timeouts 0
2025-04-29 06:12:41 [debug] Last sensors broadcast 0x00000000 found 0 177 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 93, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36334/37142
2025-04-29 06:12:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10439, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:12:41 [info] currentZPosition:0.0126
2025-04-29 06:12:43 [debug] Stopped at height 0.013 mm
2025-04-29 06:12:43 [debug] Diagnostics for board 50:
2025-04-29 06:12:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:12:43 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:00:34 ago, cause: software
2025-04-29 06:12:43 [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
2025-04-29 06:12:43 [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
2025-04-29 06:12:43 [debug] Moves scheduled 29177, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=609, frequency (Hz): min=1461, max=15306
Sync err accum 77, peak jitter 1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 1366075072 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:12:43 [debug] Driver 0: pos -9610, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16821, writes 0 timeouts 0
2025-04-29 06:12:43 [debug] Last sensors broadcast 0x00000000 found 0 97 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 81, 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 424, adv 36013/37060
2025-04-29 06:12:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10425, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:12:43 [info] currentZPosition:0.0127
2025-04-29 06:12:44 [debug] Stopped at height 0.013 mm
2025-04-29 06:12:44 [debug] Diagnostics for board 50:
2025-04-29 06:12:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:12:44 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:00:35 ago, cause: software
2025-04-29 06:12:44 [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
2025-04-29 06:12:44 [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
2025-04-29 06:12:44 [debug] Moves scheduled 29181, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=609, frequency (Hz): min=1407, max=15306
Sync err accum 80, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1365048804 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 06:12:44 [debug] Driver 0: pos -9608, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16192, writes 0 timeouts 0
2025-04-29 06:12:44 [debug] Last sensors broadcast 0x00000000 found 0 219 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 80, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36349/37110
2025-04-29 06:12:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10432, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:12:44 [info] currentZPosition:0.0129
2025-04-29 06:12:46 [debug] Stopped at height 0.012 mm
2025-04-29 06:12:46 [debug] Diagnostics for board 50:
2025-04-29 06:12:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:12:46 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:00:37 ago, cause: software
2025-04-29 06:12:46 [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
2025-04-29 06:12:46 [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
2025-04-29 06:12:46 [debug] Moves scheduled 29185, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 240, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=646, frequency (Hz): min=1383, max=15306
Sync err accum 78, peak jitter -1/1, peak Rx delay 186, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1363970942 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:12:46 [debug] Driver 0: pos -9615, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16975, writes 0 timeouts 0
2025-04-29 06:12:46 [debug] Last sensors broadcast 0x00000000 found 0 153 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 87, 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 374, adv 36029/37111
2025-04-29 06:12:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10417, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:12:46 [info] currentZPosition:0.0122
2025-04-29 06:12:47 [debug] Stopped at height 0.013 mm
2025-04-29 06:12:47 [debug] Diagnostics for board 50:
2025-04-29 06:12:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:12:47 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.2%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:00:38 ago, cause: software
2025-04-29 06:12:47 [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
2025-04-29 06:12:47 [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
2025-04-29 06:12:47 [debug] Moves scheduled 29189, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 397, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=576, frequency (Hz): min=590, max=15306
Sync err accum 78, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1362954834 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:12:47 [debug] Driver 0: pos -9606, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16035, writes 11 timeouts 1
2025-04-29 06:12:47 [debug] Last sensors broadcast 0x00000000 found 0 7 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 81, send timeouts 0, received 22, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36326/37124
2025-04-29 06:12:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10435, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:12:47 [info] currentZPosition:0.0131
2025-04-29 06:12:48 [debug] Stopped at height 0.013 mm
2025-04-29 06:12:48 [debug] Diagnostics for board 50:
2025-04-29 06:12:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:12:48 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:00:40 ago, cause: software
2025-04-29 06:12:48 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:12:48 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:12:48 [debug] Moves scheduled 29193, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=626, frequency (Hz): min=1351, max=15306
Sync err accum 71, peak jitter -2/-1, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1361893811 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, ma
2025-04-29 06:12:48 [debug] Driver 0: pos -9604, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16792, writes 0 timeouts 0
2025-04-29 06:12:48 [debug] Last sensors broadcast 0x00000000 found 0 173 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 78, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36014/37083
2025-04-29 06:12:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10439, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:12:48 [info] currentZPosition:0.0133
2025-04-29 06:12:50 [debug] Stopped at height 0.013 mm
2025-04-29 06:12:50 [debug] Diagnostics for board 50:
2025-04-29 06:12:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:12:50 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:00:41 ago, cause: software
2025-04-29 06:12:50 [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
2025-04-29 06:12:50 [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
2025-04-29 06:12:50 [debug] Moves scheduled 29197, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=480, frequency (Hz): min=1641, max=15306
Sync err accum 64, peak jitter -2/0, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 1360860862 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:12:50 [debug] Driver 0: pos -9607, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16283, writes 0 timeouts 0
2025-04-29 06:12:50 [debug] Last sensors broadcast 0x00000000 found 0 49 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 85, 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 371, adv 36337/37135
2025-04-29 06:12:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10396, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:12:50 [info] currentZPosition:0.0131
2025-04-29 06:12:51 [debug] Stopped at height 0.014 mm
2025-04-29 06:12:51 [debug] Diagnostics for board 50:
2025-04-29 06:12:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:12:51 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:00:42 ago, cause: software
2025-04-29 06:12:51 [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
2025-04-29 06:12:51 [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
2025-04-29 06:12:51 [debug] Moves scheduled 29201, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 880, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=560, frequency (Hz): min=1434, max=15306
Sync err accum 64, peak jitter -2/2, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1359809306 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:12:51 [debug] Driver 0: pos -9603, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16614, writes 0 timeouts 0
2025-04-29 06:12:51 [debug] Last sensors broadcast 0x00000000 found 0 201 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 79, 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 378, adv 36060/37106
2025-04-29 06:12:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10392, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:12:51 [info] currentZPosition:0.0135
2025-04-29 06:12:52 [debug] Stopped at height 0.014 mm
2025-04-29 06:12:52 [debug] Diagnostics for board 50:
2025-04-29 06:12:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:12:52 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:00:44 ago, cause: software
2025-04-29 06:12:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:12:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:12:52 [debug] Moves scheduled 29205, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=518, frequency (Hz): min=1616, max=15625
Sync err accum 79, peak jitter 2/3, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 1358788955 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:12:52 [debug] Driver 0: pos -9600, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16180, writes 0 timeouts 0
2025-04-29 06:12:52 [debug] Last sensors broadcast 0x00000000 found 0 61 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 79, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 371, adv 36326/37122
2025-04-29 06:12:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10379, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:12:53 [info] currentZPosition:0.0138
2025-04-29 06:12:54 [debug] Stopped at height 0.013 mm
2025-04-29 06:12:54 [debug] Diagnostics for board 50:
2025-04-29 06:12:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:12:54 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:00:45 ago, cause: software
2025-04-29 06:12:54 [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
2025-04-29 06:12:54 [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
2025-04-29 06:12:54 [debug] Moves scheduled 29209, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=608, frequency (Hz): min=1358, max=15306
Sync err accum 92, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 1357699308 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:12:54 [debug] Driver 0: pos -9613, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17252, writes 0 timeouts 0
2025-04-29 06:12:54 [debug] Last sensors broadcast 0x00000000 found 0 15 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 90, 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 375, adv 36030/37120
2025-04-29 06:12:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10424, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:12:54 [info] currentZPosition:0.0125
2025-04-29 06:12:54 [debug] Stopped at height 0.012 mm
2025-04-29 06:12:56 [debug] Stopped at height 0.012 mm
2025-04-29 06:12:56 [debug] Diagnostics for board 50:
2025-04-29 06:12:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:12:56 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.7%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:00:47 ago, cause: software
2025-04-29 06:12:56 [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
2025-04-29 06:12:56 [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
2025-04-29 06:12:56 [debug] Moves scheduled 29215, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 627, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=617, frequency (Hz): min=1286, max=15306
Sync err accum 100, peak jitter 0/2, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 1356412741 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:12:56 [debug] Driver 0: pos -9622, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20441, writes 0 timeouts 0
2025-04-29 06:12:56 [debug] Last sensors broadcast 0x00000000 found 0 230 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 99, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 392, adv 36394/37136
2025-04-29 06:12:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10477, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:12:56 [info] currentZPosition:0.0116
2025-04-29 06:12:57 [debug] Stopped at height 0.013 mm
2025-04-29 06:12:57 [debug] Diagnostics for board 50:
2025-04-29 06:12:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:12:57 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 17:00:48 ago, cause: software
2025-04-29 06:12:57 [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
2025-04-29 06:12:57 [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
2025-04-29 06:12:57 [debug] Moves scheduled 29219, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 261, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=673, frequency (Hz): min=1336, max=15306
Sync err accum 105, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1355377049 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:12:57 [debug] Driver 0: pos -9607, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16253, writes 0 timeouts 0
2025-04-29 06:12:57 [debug] Last sensors broadcast 0x00000000 found 0 111 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 87, 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 435, adv 36052/37079
2025-04-29 06:12:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10435, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:12:57 [info] currentZPosition:0.0131
2025-04-29 06:12:58 [debug] Stopped at height 0.012 mm
2025-04-29 06:12:59 [debug] Stopped at height 0.012 mm
2025-04-29 06:12:59 [debug] Diagnostics for board 50:
2025-04-29 06:12:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:12:59 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:00:50 ago, cause: software
2025-04-29 06:12:59 [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
2025-04-29 06:12:59 [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
2025-04-29 06:12:59 [debug] Moves scheduled 29225, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=588, frequency (Hz): min=1386, max=15625
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 1354091857 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 06:12:59 [debug] Driver 0: pos -9620, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20334, writes 0 timeouts 0
2025-04-29 06:12:59 [debug] Last sensors broadcast 0x00000000 found 0 76 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 108, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36379/37154
2025-04-29 06:12:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10430, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2279
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:12:59 [info] currentZPosition:0.0118
2025-04-29 06:13:00 [debug] Stopped at height 0.012 mm
2025-04-29 06:13:00 [debug] Diagnostics for board 50:
2025-04-29 06:13:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:13:00 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 17:00:51 ago, cause: software
2025-04-29 06:13:00 [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
2025-04-29 06:13:00 [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
2025-04-29 06:13:00 [debug] Moves scheduled 29229, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 157, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=598, frequency (Hz): min=1503, max=15625
Sync err accum 100, peak jitter -1/0, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1353035257 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, ma
2025-04-29 06:13:00 [debug] Driver 0: pos -9615, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16609, writes 0 timeouts 0
2025-04-29 06:13:00 [debug] Last sensors broadcast 0x00000000 found 0 234 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 86, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36087/37076
2025-04-29 06:13:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10440, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:13:00 [info] currentZPosition:0.0123
2025-04-29 06:13:02 [debug] Stopped at height 0.013 mm
2025-04-29 06:13:02 [debug] Diagnostics for board 50:
2025-04-29 06:13:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:13:02 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:00:53 ago, cause: software
2025-04-29 06:13:02 [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
2025-04-29 06:13:02 [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
2025-04-29 06:13:02 [debug] Moves scheduled 29233, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 411, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=425, frequency (Hz): min=1494, max=15306
Sync err accum 88, peak jitter -3/-1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 1352014818 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 06:13:02 [debug] Driver 0: pos -9610, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16049, writes 0 timeouts 0
2025-04-29 06:13:02 [debug] Last sensors broadcast 0x00000000 found 0 93 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 86, 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 416, adv 36308/37065
2025-04-29 06:13:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10447, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:13:02 [info] currentZPosition:0.0129
2025-04-29 06:13:03 [debug] Stopped at height 0.013 mm
2025-04-29 06:13:03 [debug] Diagnostics for board 50:
2025-04-29 06:13:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:13:03 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:00:54 ago, cause: software
2025-04-29 06:13:03 [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
2025-04-29 06:13:03 [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
2025-04-29 06:13:03 [debug] Moves scheduled 29237, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=594, frequency (Hz): min=1334, max=15306
Sync err accum 76, peak jitter -3/-1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 1350957938 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 06:13:03 [debug] Driver 0: pos -9609, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16686, writes 0 timeouts 0
2025-04-29 06:13:03 [debug] Last sensors broadcast 0x00000000 found 0 4 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 83, 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 474, adv 36046/37108
2025-04-29 06:13:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10437, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:13:03 [info] currentZPosition:0.0130
2025-04-29 06:13:04 [debug] Stopped at height 0.012 mm
2025-04-29 06:13:04 [debug] Diagnostics for board 50:
2025-04-29 06:13:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:13:04 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:00:56 ago, cause: software
2025-04-29 06:13:04 [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
2025-04-29 06:13:04 [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
2025-04-29 06:13:04 [debug] Moves scheduled 29241, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=809, frequency (Hz): min=1099, max=15306
Sync err accum 61, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1349914655 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, ma
2025-04-29 06:13:04 [debug] Driver 0: pos -9615, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16399, writes 0 timeouts 0
2025-04-29 06:13:04 [debug] Last sensors broadcast 0x00000000 found 0 144 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 87, 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 463, adv 36293/37077
2025-04-29 06:13:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10425, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:13:04 [info] currentZPosition:0.0124
2025-04-29 06:13:06 [debug] Stopped at height 0.013 mm
2025-04-29 06:13:06 [debug] Diagnostics for board 50:
2025-04-29 06:13:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:13:06 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:00:57 ago, cause: software
2025-04-29 06:13:06 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:13:06 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:13:06 [debug] Moves scheduled 29245, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 285, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=581, frequency (Hz): min=1315, max=15306
Sync err accum 68, peak jitter -2/3, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1348856280 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:13:06 [debug] Driver 0: pos -9613, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16642, writes 0 timeouts 0
2025-04-29 06:13:06 [debug] Last sensors broadcast 0x00000000 found 0 55 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 91, 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 362, adv 36104/37147
2025-04-29 06:13:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10441, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2279
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:13:06 [info] currentZPosition:0.0126
2025-04-29 06:13:07 [debug] Stopped at height 0.013 mm
2025-04-29 06:13:07 [debug] Diagnostics for board 50:
2025-04-29 06:13:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:13:07 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:00:58 ago, cause: software
2025-04-29 06:13:07 [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
2025-04-29 06:13:07 [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
2025-04-29 06:13:07 [debug] Moves scheduled 29249, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=582, frequency (Hz): min=1467, max=15306
Sync err accum 83, peak jitter 2/3, peak Rx delay 208, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 1347839604 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:13:07 [debug] Driver 0: pos -9607, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16035, writes 0 timeouts 0
2025-04-29 06:13:07 [debug] Last sensors broadcast 0x00000000 found 0 160 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 79, 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 389, adv 36331/37166
2025-04-29 06:13:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10396, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:13:07 [info] currentZPosition:0.0132
2025-04-29 06:13:09 [debug] Stopped at height 0.012 mm
2025-04-29 06:13:09 [debug] Diagnostics for board 50:
2025-04-29 06:13:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:13:09 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:01:00 ago, cause: software
2025-04-29 06:13:09 [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
2025-04-29 06:13:09 [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
2025-04-29 06:13:09 [debug] Moves scheduled 29253, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 242, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=780, frequency (Hz): min=1132, max=15306
Sync err accum 97, peak jitter 1/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1346757442 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 06:13:09 [debug] Driver 0: pos -9616, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17050, writes 0 timeouts 0
2025-04-29 06:13:09 [debug] Last sensors broadcast 0x00000000 found 0 104 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 96, 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 361, adv 36089/37145
2025-04-29 06:13:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10448, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2279
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:13:09 [info] currentZPosition:0.0123
2025-04-29 06:13:10 [debug] Stopped at height 0.013 mm
2025-04-29 06:13:10 [debug] Diagnostics for board 50:
2025-04-29 06:13:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:13:10 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.7%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:01:01 ago, cause: software
2025-04-29 06:13:10 [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
2025-04-29 06:13:10 [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
2025-04-29 06:13:10 [debug] Moves scheduled 29257, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 322, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=785, frequency (Hz): min=578, max=15306
Sync err accum 106, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1345745487 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 06:13:10 [debug] Driver 0: pos -9607, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15896, writes 11 timeouts 1
2025-04-29 06:13:10 [debug] Last sensors broadcast 0x00000000 found 0 203 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 80, 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 397, adv 36222/37141
2025-04-29 06:13:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10432, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:13:10 [info] currentZPosition:0.0132
2025-04-29 06:13:11 [debug] Stopped at height 0.013 mm
2025-04-29 06:13:11 [debug] Diagnostics for board 50:
2025-04-29 06:13:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:13:11 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:01:03 ago, cause: software
2025-04-29 06:13:11 [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
2025-04-29 06:13:11 [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
2025-04-29 06:13:11 [debug] Moves scheduled 29261, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=489, frequency (Hz): min=1450, max=15625
Sync err accum 111, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1344676715 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max
2025-04-29 06:13:11 [debug] Driver 0: pos -9611, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16892, writes 0 timeouts 0
2025-04-29 06:13:11 [debug] Last sensors broadcast 0x00000000 found 0 129 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 85, 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 408, adv 36071/37100
2025-04-29 06:13:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10442, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:13:11 [info] currentZPosition:0.0128
2025-04-29 06:13:13 [debug] Stopped at height 0.013 mm
2025-04-29 06:13:13 [debug] Diagnostics for board 50:
2025-04-29 06:13:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:13:13 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:01:04 ago, cause: software
2025-04-29 06:13:13 [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
2025-04-29 06:13:13 [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
2025-04-29 06:13:13 [debug] Moves scheduled 29265, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=533, frequency (Hz): min=1329, max=15306
Sync err accum 110, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1343648158 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, ma
2025-04-29 06:13:13 [debug] Driver 0: pos -9609, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16225, writes 0 timeouts 0
2025-04-29 06:13:13 [debug] Last sensors broadcast 0x00000000 found 0 1 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 82, 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 414, adv 36056/37105
2025-04-29 06:13:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10400, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:13:13 [info] currentZPosition:0.0131
2025-04-29 06:13:14 [debug] Stopped at height 0.012 mm
2025-04-29 06:13:14 [debug] Diagnostics for board 50:
2025-04-29 06:13:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:13:14 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:01:05 ago, cause: software
2025-04-29 06:13:14 [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
2025-04-29 06:13:14 [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
2025-04-29 06:13:14 [debug] Moves scheduled 29269, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 284, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=668, frequency (Hz): min=1266, max=15306
Sync err accum 109, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1342564166 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, ma
2025-04-29 06:13:14 [debug] Driver 0: pos -9618, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17055, writes 0 timeouts 0
2025-04-29 06:13:14 [debug] Last sensors broadcast 0x00000000 found 0 196 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 91, 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 388, adv 36014/37123
2025-04-29 06:13:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10440, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2279
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:13:14 [info] currentZPosition:0.0122
2025-04-29 06:13:15 [debug] Stopped at height 0.013 mm
2025-04-29 06:13:15 [debug] Diagnostics for board 50:
2025-04-29 06:13:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:13:15 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.8%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:01:07 ago, cause: software
2025-04-29 06:13:15 [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
2025-04-29 06:13:15 [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
2025-04-29 06:13:15 [debug] Moves scheduled 29273, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=540, frequency (Hz): min=1500, max=15306
Sync err accum 107, peak jitter -1/0, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1341555176 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, ma
2025-04-29 06:13:15 [debug] Driver 0: pos -9608, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15844, writes 0 timeouts 0
2025-04-29 06:13:15 [debug] Last sensors broadcast 0x00000000 found 0 41 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 81, 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 528, adv 36084/37111
2025-04-29 06:13:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10444, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:13:16 [info] currentZPosition:0.0132
2025-04-29 06:13:17 [debug] Stopped at height 0.014 mm
2025-04-29 06:13:17 [debug] Diagnostics for board 50:
2025-04-29 06:13:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:13:17 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.8%
Owned mutexes:
Last reset 17:01:08 ago, cause: software
2025-04-29 06:13:17 [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
2025-04-29 06:13:17 [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
2025-04-29 06:13:17 [debug] Moves scheduled 29277, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=714, frequency (Hz): min=1293, max=18750
Sync err accum 97, peak jitter -3/-1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 1340502235 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 06:13:17 [debug] Driver 0: pos -9603, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16624, writes 0 timeouts 0
2025-04-29 06:13:17 [debug] Last sensors broadcast 0x00000000 found 0 193 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 79, 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 373, adv 36045/37090
2025-04-29 06:13:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10421, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:13:17 [info] currentZPosition:0.0137
2025-04-29 06:13:18 [debug] Stopped at height 0.013 mm
2025-04-29 06:13:18 [debug] Diagnostics for board 50:
2025-04-29 06:13:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:13:18 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.2%
Owned mutexes:
Last reset 17:01:10 ago, cause: software
2025-04-29 06:13:18 [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
2025-04-29 06:13:18 [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
2025-04-29 06:13:18 [debug] Moves scheduled 29281, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=618, frequency (Hz): min=1339, max=15306
Sync err accum 82, peak jitter -3/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 1339456447 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 06:13:18 [debug] Driver 0: pos -9612, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16508, writes 0 timeouts 0
2025-04-29 06:13:18 [debug] Last sensors broadcast 0x00000000 found 0 88 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 88, 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 397, adv 36107/37108
2025-04-29 06:13:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10458, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:13:18 [info] currentZPosition:0.0128
2025-04-29 06:13:20 [debug] Stopped at height 0.013 mm
2025-04-29 06:13:20 [debug] Diagnostics for board 50:
2025-04-29 06:13:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:13:20 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:01:11 ago, cause: software
2025-04-29 06:13:20 [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
2025-04-29 06:13:20 [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
2025-04-29 06:13:20 [debug] Moves scheduled 29285, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=674, frequency (Hz): min=1394, max=15306
Sync err accum 66, peak jitter -3/-2, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 1338390901 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 06:13:20 [debug] Driver 0: pos -9613, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16833, writes 0 timeouts 0
2025-04-29 06:13:20 [debug] Last sensors broadcast 0x00000000 found 0 9 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 91, 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 378, adv 36048/37122
2025-04-29 06:13:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10416, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:13:20 [info] currentZPosition:0.0127
2025-04-29 06:13:21 [debug] Stopped at height 0.013 mm
2025-04-29 06:13:21 [debug] Diagnostics for board 50:
2025-04-29 06:13:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:13:21 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:01:12 ago, cause: software
2025-04-29 06:13:21 [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
2025-04-29 06:13:21 [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
2025-04-29 06:13:21 [debug] Moves scheduled 29289, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=541, frequency (Hz): min=1595, max=15306
Sync err accum 62, peak jitter -3/1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1337360558 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:13:21 [debug] Driver 0: pos -9611, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16260, writes 0 timeouts 0
2025-04-29 06:13:21 [debug] Last sensors broadcast 0x00000000 found 0 134 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 88, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 358, adv 36128/37159
2025-04-29 06:13:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10435, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:13:21 [info] currentZPosition:0.0129
2025-04-29 06:13:22 [debug] Stopped at height 0.013 mm
2025-04-29 06:13:22 [debug] Diagnostics for board 50:
2025-04-29 06:13:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:13:22 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 17:01:14 ago, cause: software
2025-04-29 06:13:22 [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
2025-04-29 06:13:22 [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
2025-04-29 06:13:22 [debug] Moves scheduled 29293, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 162, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=568, frequency (Hz): min=1549, max=15306
Sync err accum 74, peak jitter 0/4, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1336294026 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:13:22 [debug] Driver 0: pos -9612, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16846, writes 0 timeouts 0
2025-04-29 06:13:22 [debug] Last sensors broadcast 0x00000000 found 0 54 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 85, 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 453, adv 36023/37065
2025-04-29 06:13:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10410, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:13:23 [info] currentZPosition:0.0128
2025-04-29 06:13:24 [debug] Stopped at height 0.013 mm
2025-04-29 06:13:24 [debug] Diagnostics for board 50:
2025-04-29 06:13:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:13:24 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:01:15 ago, cause: software
2025-04-29 06:13:24 [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
2025-04-29 06:13:24 [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
2025-04-29 06:13:24 [debug] Moves scheduled 29297, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=437, frequency (Hz): min=1578, max=15306
Sync err accum 77, peak jitter 0/1, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1335271307 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 06:13:24 [debug] Driver 0: pos -9611, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16124, writes 0 timeouts 0
2025-04-29 06:13:24 [debug] Last sensors broadcast 0x00000000 found 0 168 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 84, 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 383, adv 36094/37117
2025-04-29 06:13:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10405, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:13:24 [info] currentZPosition:0.0129
2025-04-29 06:13:25 [debug] Stopped at height 0.012 mm
2025-04-29 06:13:25 [debug] Diagnostics for board 50:
2025-04-29 06:13:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:13:25 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.2%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:01:17 ago, cause: software
2025-04-29 06:13:25 [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
2025-04-29 06:13:25 [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
2025-04-29 06:13:25 [debug] Moves scheduled 29301, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=660, frequency (Hz): min=1327, max=15625
Sync err accum 79, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1334197500 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max
2025-04-29 06:13:25 [debug] Driver 0: pos -9616, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16980, writes 0 timeouts 0
2025-04-29 06:13:25 [debug] Last sensors broadcast 0x00000000 found 0 101 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 90, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36037/37121
2025-04-29 06:13:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10456, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:13:25 [info] currentZPosition:0.0124
2025-04-29 06:13:27 [debug] Stopped at height 0.013 mm
2025-04-29 06:13:27 [debug] Diagnostics for board 50:
2025-04-29 06:13:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:13:27 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.8%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:01:18 ago, cause: software
2025-04-29 06:13:27 [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
2025-04-29 06:13:27 [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
2025-04-29 06:13:27 [debug] Moves scheduled 29305, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=634, frequency (Hz): min=1371, max=15306
Sync err accum 79, peak jitter 0/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 1 ticks, disabled, next step interrupt due in 1333173231 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:13:27 [debug] Driver 0: pos -9614, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16098, writes 0 timeouts 0
2025-04-29 06:13:27 [debug] Last sensors broadcast 0x00000000 found 0 216 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 88, 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 361, adv 36111/37122
2025-04-29 06:13:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10435, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:13:27 [info] currentZPosition:0.0126
2025-04-29 06:13:28 [debug] Stopped at height 0.013 mm
2025-04-29 06:13:28 [debug] Diagnostics for board 50:
2025-04-29 06:13:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:13:28 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:01:19 ago, cause: software
2025-04-29 06:13:28 [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
2025-04-29 06:13:28 [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
2025-04-29 06:13:28 [debug] Moves scheduled 29309, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 400, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=537, frequency (Hz): min=1527, max=15306
Sync err accum 74, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1332120266 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:13:28 [debug] Driver 0: pos -9607, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16638, writes 0 timeouts 0
2025-04-29 06:13:28 [debug] Last sensors broadcast 0x00000000 found 0 120 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 83, 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 618, adv 36087/37122
2025-04-29 06:13:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10433, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:13:28 [info] currentZPosition:0.0133
2025-04-29 06:13:29 [debug] Stopped at height 0.013 mm
2025-04-29 06:13:29 [debug] Diagnostics for board 50:
2025-04-29 06:13:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:13:29 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:01:21 ago, cause: software
2025-04-29 06:13:29 [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
2025-04-29 06:13:29 [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
2025-04-29 06:13:29 [debug] Moves scheduled 29313, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 273, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=569, frequency (Hz): min=1334, max=15306
Sync err accum 64, peak jitter -2/-1, peak Rx delay 208, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 1331086786 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 06:13:29 [debug] Driver 0: pos -9608, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16337, writes 0 timeouts 0
2025-04-29 06:13:29 [debug] Last sensors broadcast 0x00000000 found 0 248 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 81, 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 336, adv 36114/37151
2025-04-29 06:13:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10455, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:13:30 [info] currentZPosition:0.0132
2025-04-29 06:13:31 [debug] Stopped at height 0.013 mm
2025-04-29 06:13:31 [debug] Diagnostics for board 50:
2025-04-29 06:13:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:13:31 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:01:22 ago, cause: software
2025-04-29 06:13:31 [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
2025-04-29 06:13:31 [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
2025-04-29 06:13:31 [debug] Moves scheduled 29317, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=590, frequency (Hz): min=717, max=15306
Sync err accum 69, peak jitter -2/4, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1330020005 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 06:13:31 [debug] Driver 0: pos -9609, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16833, writes 11 timeouts 1
2025-04-29 06:13:31 [debug] Last sensors broadcast 0x00000000 found 0 169 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 84, 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 385, adv 36004/37123
2025-04-29 06:13:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10431, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:13:31 [info] currentZPosition:0.0131
2025-04-29 06:13:32 [debug] Stopped at height 0.013 mm
2025-04-29 06:13:32 [debug] Diagnostics for board 50:
2025-04-29 06:13:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:13:32 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:01:24 ago, cause: software
2025-04-29 06:13:32 [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
2025-04-29 06:13:32 [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
2025-04-29 06:13:32 [debug] Moves scheduled 29321, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 263, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=636, frequency (Hz): min=1198, max=15306
Sync err accum 76, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1328989558 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:13:32 [debug] Driver 0: pos -9610, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16254, writes 0 timeouts 0
2025-04-29 06:13:32 [debug] Last sensors broadcast 0x00000000 found 0 48 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 87, 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 669, adv 36131/37078
2025-04-29 06:13:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10397, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:13:32 [info] currentZPosition:0.0130
2025-04-29 06:13:34 [debug] Stopped at height 0.013 mm
2025-04-29 06:13:34 [debug] Diagnostics for board 50:
2025-04-29 06:13:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:13:34 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:01:25 ago, cause: software
2025-04-29 06:13:34 [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
2025-04-29 06:13:34 [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
2025-04-29 06:13:34 [debug] Moves scheduled 29325, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=598, frequency (Hz): min=1509, max=15306
Sync err accum 82, peak jitter 0/2, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1327918350 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:13:34 [debug] Driver 0: pos -9613, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16868, writes 0 timeouts 0
2025-04-29 06:13:34 [debug] Last sensors broadcast 0x00000000 found 0 223 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 87, 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 383, adv 36001/37121
2025-04-29 06:13:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10430, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2279
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:13:34 [info] currentZPosition:0.0128
2025-04-29 06:13:35 [debug] Stopped at height 0.014 mm
2025-04-29 06:13:35 [debug] Diagnostics for board 50:
2025-04-29 06:13:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:13:35 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.8%
Owned mutexes:
Last reset 17:01:26 ago, cause: software
2025-04-29 06:13:35 [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
2025-04-29 06:13:35 [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
2025-04-29 06:13:35 [debug] Moves scheduled 29329, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 297, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=440, frequency (Hz): min=1794, max=15306
Sync err accum 83, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1326917733 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:13:35 [debug] Driver 0: pos -9601, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15779, writes 0 timeouts 0
2025-04-29 06:13:35 [debug] Last sensors broadcast 0x00000000 found 0 56 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 81, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 371, adv 36113/37122
2025-04-29 06:13:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10394, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:13:35 [info] currentZPosition:0.0140
2025-04-29 06:13:36 [debug] Stopped at height 0.013 mm
2025-04-29 06:13:36 [debug] Diagnostics for board 50:
2025-04-29 06:13:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:13:36 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:01:28 ago, cause: software
2025-04-29 06:13:36 [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
2025-04-29 06:13:36 [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
2025-04-29 06:13:36 [debug] Moves scheduled 29333, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=538, frequency (Hz): min=648, max=15306
Sync err accum 79, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1325833492 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:13:36 [debug] Driver 0: pos -9614, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17213, writes 11 timeouts 1
2025-04-29 06:13:36 [debug] Last sensors broadcast 0x00000000 found 0 6 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 88, 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 379, adv 36036/37142
2025-04-29 06:13:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2279
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10448, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:13:37 [info] currentZPosition:0.0127
2025-04-29 06:13:37 [debug] Stopped at height 0.012 mm
2025-04-29 06:13:38 [debug] Stopped at height 0.014 mm
2025-04-29 06:13:38 [debug] Diagnostics for board 50:
2025-04-29 06:13:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:13:38 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.0%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:01:29 ago, cause: software
2025-04-29 06:13:38 [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
2025-04-29 06:13:38 [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
2025-04-29 06:13:38 [debug] Moves scheduled 29339, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=568, frequency (Hz): min=1575, max=15306
Sync err accum 73, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1324573579 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:13:38 [debug] Driver 0: pos -9606, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 19980, writes 0 timeouts 0
2025-04-29 06:13:38 [debug] Last sensors broadcast 0x00000000 found 0 183 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 103, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36139/37114
2025-04-29 06:13:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10408, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:13:38 [info] currentZPosition:0.0135
2025-04-29 06:13:39 [debug] Stopped at height 0.012 mm
2025-04-29 06:13:40 [debug] Stopped at height 0.013 mm
2025-04-29 06:13:40 [debug] Diagnostics for board 50:
2025-04-29 06:13:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:13:40 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 17:01:31 ago, cause: software
2025-04-29 06:13:40 [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
2025-04-29 06:13:40 [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
2025-04-29 06:13:40 [debug] Moves scheduled 29345, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=552, frequency (Hz): min=1578, max=15306
Sync err accum 62, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1323276439 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max
2025-04-29 06:13:40 [debug] Driver 0: pos -9611, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20657, writes 0 timeouts 0
2025-04-29 06:13:40 [debug] Last sensors broadcast 0x00000000 found 0 162 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 96, 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 398, adv 36023/37127
2025-04-29 06:13:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10446, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:13:40 [info] currentZPosition:0.0130
2025-04-29 06:13:41 [debug] Stopped at height 0.014 mm
2025-04-29 06:13:41 [debug] Diagnostics for board 50:
2025-04-29 06:13:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:13:41 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.2%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:01:33 ago, cause: software
2025-04-29 06:13:41 [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
2025-04-29 06:13:41 [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
2025-04-29 06:13:41 [debug] Moves scheduled 29349, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=577, frequency (Hz): min=759, max=15306
Sync err accum 71, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1322262632 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 3
2025-04-29 06:13:41 [debug] Driver 0: pos -9606, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16067, writes 11 timeouts 1
2025-04-29 06:13:41 [debug] Last sensors broadcast 0x00000000 found 0 16 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 81, 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 417, adv 36082/37143
2025-04-29 06:13:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10401, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:13:41 [info] currentZPosition:0.0135
2025-04-29 06:13:43 [debug] Stopped at height 0.012 mm
2025-04-29 06:13:43 [debug] Diagnostics for board 50:
2025-04-29 06:13:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:13:43 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:01:34 ago, cause: software
2025-04-29 06:13:43 [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
2025-04-29 06:13:43 [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
2025-04-29 06:13:43 [debug] Moves scheduled 29353, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 272, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=532, frequency (Hz): min=1670, max=15306
Sync err accum 74, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1321174439 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:13:43 [debug] Driver 0: pos -9618, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17067, writes 0 timeouts 0
2025-04-29 06:13:43 [debug] Last sensors broadcast 0x00000000 found 0 215 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 88, 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 365, adv 36044/37123
2025-04-29 06:13:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10454, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:13:43 [info] currentZPosition:0.0123
2025-04-29 06:13:44 [debug] Stopped at height 0.013 mm
2025-04-29 06:13:44 [debug] Diagnostics for board 50:
2025-04-29 06:13:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:13:44 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.0%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:01:35 ago, cause: software
2025-04-29 06:13:44 [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
2025-04-29 06:13:44 [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
2025-04-29 06:13:44 [debug] Moves scheduled 29357, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=506, frequency (Hz): min=1318, max=15306
Sync err accum 73, peak jitter -1/1, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1320154723 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max
2025-04-29 06:13:44 [debug] Driver 0: pos -9609, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15981, writes 0 timeouts 0
2025-04-29 06:13:44 [debug] Last sensors broadcast 0x00000000 found 0 73 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 83, 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 462, adv 36078/37115
2025-04-29 06:13:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10399, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:13:44 [info] currentZPosition:0.0133
2025-04-29 06:13:45 [debug] Stopped at height 0.014 mm
2025-04-29 06:13:45 [debug] Diagnostics for board 50:
2025-04-29 06:13:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:13:45 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:01:37 ago, cause: software
2025-04-29 06:13:45 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:13:45 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:13:45 [debug] Moves scheduled 29361, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=588, frequency (Hz): min=1482, max=15306
Sync err accum 65, peak jitter -2/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1319093067 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:13:45 [debug] Driver 0: pos -9607, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16791, writes 0 timeouts 0
2025-04-29 06:13:45 [debug] Last sensors broadcast 0x00000000 found 0 240 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 82, 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 379, adv 36092/37111
2025-04-29 06:13:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10399, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:13:46 [info] currentZPosition:0.0135
2025-04-29 06:13:47 [debug] Stopped at height 0.013 mm
2025-04-29 06:13:47 [debug] Diagnostics for board 50:
2025-04-29 06:13:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:13:47 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:01:38 ago, cause: software
2025-04-29 06:13:47 [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
2025-04-29 06:13:47 [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
2025-04-29 06:13:47 [debug] Moves scheduled 29365, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=500, frequency (Hz): min=1381, max=15306
Sync err accum 65, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1318059533 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:13:47 [debug] Driver 0: pos -9609, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16306, writes 0 timeouts 0
2025-04-29 06:13:47 [debug] Last sensors broadcast 0x00000000 found 0 119 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 83, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36059/37126
2025-04-29 06:13:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10449, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:13:47 [info] currentZPosition:0.0133
2025-04-29 06:13:48 [debug] Stopped at height 0.013 mm
2025-04-29 06:13:48 [debug] Diagnostics for board 50:
2025-04-29 06:13:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:13:48 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:01:40 ago, cause: software
2025-04-29 06:13:48 [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
2025-04-29 06:13:48 [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
2025-04-29 06:13:48 [debug] Moves scheduled 29369, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 588, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=500, frequency (Hz): min=1674, max=15625
Sync err accum 75, peak jitter 1/2, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1316978967 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 06:13:48 [debug] Driver 0: pos -9616, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17088, writes 0 timeouts 0
2025-04-29 06:13:48 [debug] Last sensors broadcast 0x00000000 found 0 59 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 91, 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 377, adv 36072/37161
2025-04-29 06:13:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10422, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4696, no error
Lin: Encoder reverse polarity: no, raw count 2279
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:13:48 [info] currentZPosition:0.0126
2025-04-29 06:13:50 [debug] Stopped at height 0.013 mm
2025-04-29 06:13:50 [debug] Diagnostics for board 50:
2025-04-29 06:13:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:13:50 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.8%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:01:41 ago, cause: software
2025-04-29 06:13:50 [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
2025-04-29 06:13:50 [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
2025-04-29 06:13:50 [debug] Moves scheduled 29373, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 398, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=696, frequency (Hz): min=1179, max=15306
Sync err accum 79, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1315961822 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 06:13:50 [debug] Driver 0: pos -9608, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15997, writes 0 timeouts 0
2025-04-29 06:13:50 [debug] Last sensors broadcast 0x00000000 found 0 166 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 85, 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 472, adv 36125/37124
2025-04-29 06:13:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10426, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2280
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:13:50 [info] currentZPosition:0.0134
2025-04-29 06:13:51 [debug] Stopped at height 0.014 mm
2025-04-29 06:13:51 [debug] Diagnostics for board 50:
2025-04-29 06:13:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:13:51 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:01:42 ago, cause: software
2025-04-29 06:13:51 [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
2025-04-29 06:13:51 [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
2025-04-29 06:13:51 [debug] Moves scheduled 29377, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 616, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=532, frequency (Hz): min=1565, max=15306
Sync err accum 80, peak jitter 0/1, peak Rx delay 213, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1314901840 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 06:13:51 [debug] Driver 0: pos -9607, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16786, writes 0 timeouts 0
2025-04-29 06:13:51 [debug] Last sensors broadcast 0x00000000 found 0 79 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 83, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36023/37122
2025-04-29 06:13:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10443, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2269
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:13:51 [info] currentZPosition:0.0135
2025-04-29 06:13:52 [debug] Stopped at height 0.014 mm
2025-04-29 06:13:52 [debug] Diagnostics for board 50:
2025-04-29 06:13:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:13:52 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:01:44 ago, cause: software
2025-04-29 06:13:52 [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
2025-04-29 06:13:52 [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
2025-04-29 06:13:52 [debug] Moves scheduled 29381, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 389, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=524, frequency (Hz): min=1482, max=15306
Sync err accum 75, peak jitter -2/0, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 1313880467 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:13:52 [debug] Driver 0: pos -9605, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16171, writes 0 timeouts 0
2025-04-29 06:13:52 [debug] Last sensors broadcast 0x00000000 found 0 190 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 78, 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 461, adv 36109/37126
2025-04-29 06:13:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10416, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:13:52 [info] currentZPosition:0.0137
2025-04-29 06:13:54 [debug] Stopped at height 0.012 mm
2025-04-29 06:13:54 [debug] Diagnostics for board 50:
2025-04-29 06:13:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:13:54 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.2%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:01:45 ago, cause: software
2025-04-29 06:13:54 [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
2025-04-29 06:13:54 [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
2025-04-29 06:13:54 [debug] Moves scheduled 29385, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 306, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=550, frequency (Hz): min=1464, max=15306
Sync err accum 65, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 1312789123 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 06:13:54 [debug] Driver 0: pos -9620, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17239, writes 0 timeouts 0
2025-04-29 06:13:54 [debug] Last sensors broadcast 0x00000000 found 0 146 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 95, 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 766, adv 36004/37072
2025-04-29 06:13:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10446, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2279
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:13:54 [info] currentZPosition:0.0122
2025-04-29 06:13:54 [debug] Stopped at height 0.013 mm
2025-04-29 06:13:56 [debug] Stopped at height 0.013 mm
2025-04-29 06:13:56 [debug] Diagnostics for board 50:
2025-04-29 06:13:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:13:56 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.8%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:01:47 ago, cause: software
2025-04-29 06:13:56 [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
2025-04-29 06:13:56 [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
2025-04-29 06:13:56 [debug] Moves scheduled 29391, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=496, frequency (Hz): min=1626, max=15625
Sync err accum 67, peak jitter -2/1, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1311533855 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:13:56 [debug] Driver 0: pos -9614, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 19939, writes 0 timeouts 0
2025-04-29 06:13:56 [debug] Last sensors broadcast 0x00000000 found 0 68 ticks ago, 0 ordering errs, loop time 2
CAN messages queued 100, 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 449, adv 36077/37118
2025-04-29 06:13:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10453, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:13:56 [info] currentZPosition:0.0128
2025-04-29 06:13:57 [debug] Stopped at height 0.013 mm
2025-04-29 06:13:57 [debug] Diagnostics for board 50:
2025-04-29 06:13:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:13:57 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:01:48 ago, cause: software
2025-04-29 06:13:57 [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
2025-04-29 06:13:57 [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
2025-04-29 06:13:57 [debug] Moves scheduled 29395, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=797, frequency (Hz): min=1168, max=15306
Sync err accum 71, peak jitter 0/2, peak Rx delay 185, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1310472029 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:13:57 [debug] Driver 0: pos -9613, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16792, writes 0 timeouts 0
2025-04-29 06:13:57 [debug] Last sensors broadcast 0x00000000 found 0 235 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 86, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36019/37129
2025-04-29 06:13:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10408, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:13:57 [info] currentZPosition:0.0129
2025-04-29 06:13:58 [debug] Stopped at height 0.014 mm
2025-04-29 06:13:58 [debug] Diagnostics for board 50:
2025-04-29 06:13:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:13:58 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:01:50 ago, cause: software
2025-04-29 06:13:58 [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
2025-04-29 06:13:58 [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
2025-04-29 06:13:58 [debug] Moves scheduled 29399, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=568, frequency (Hz): min=1488, max=15306
Sync err accum 67, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1309474839 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:13:58 [debug] Driver 0: pos -9599, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15771, writes 0 timeouts 0
2025-04-29 06:13:58 [debug] Last sensors broadcast 0x00000000 found 0 66 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 80, 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 372, adv 36102/37122
2025-04-29 06:13:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10371, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2268
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:13:58 [info] currentZPosition:0.0143
2025-04-29 06:13:59 [debug] Stopped at height 0.014 mm
2025-04-29 06:14:00 [debug] Stopped at height 0.013 mm
2025-04-29 06:14:00 [debug] Diagnostics for board 50:
2025-04-29 06:14:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:14:00 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.4%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:01:51 ago, cause: software
2025-04-29 06:14:00 [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
2025-04-29 06:14:00 [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
2025-04-29 06:14:00 [debug] Moves scheduled 29405, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=633, frequency (Hz): min=1479, max=15306
Sync err accum 67, peak jitter -1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 1308146581 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:14:00 [debug] Driver 0: pos -9616, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 21161, writes 0 timeouts 0
2025-04-29 06:14:00 [debug] Last sensors broadcast 0x00000000 found 0 85 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 95, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36035/37097
2025-04-29 06:14:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10419, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:14:00 [info] currentZPosition:0.0126
2025-04-29 06:14:01 [debug] Stopped at height 0.013 mm
2025-04-29 06:14:01 [debug] Diagnostics for board 50:
2025-04-29 06:14:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:14:01 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 17:01:53 ago, cause: software
2025-04-29 06:14:01 [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
2025-04-29 06:14:01 [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
2025-04-29 06:14:01 [debug] Moves scheduled 29409, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 383, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=656, frequency (Hz): min=1399, max=15306
Sync err accum 76, peak jitter 1/2, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 1307129703 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:14:01 [debug] Driver 0: pos -9608, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16001, writes 0 timeouts 0
2025-04-29 06:14:01 [debug] Last sensors broadcast 0x00000000 found 0 192 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 82, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36104/37143
2025-04-29 06:14:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2279
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10429, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:14:01 [info] currentZPosition:0.0134
2025-04-29 06:14:03 [debug] Stopped at height 0.014 mm
2025-04-29 06:14:03 [debug] Diagnostics for board 50:
2025-04-29 06:14:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:14:03 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:01:54 ago, cause: software
2025-04-29 06:14:03 [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
2025-04-29 06:14:03 [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
2025-04-29 06:14:03 [debug] Moves scheduled 29413, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=542, frequency (Hz): min=1518, max=15306
Sync err accum 85, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1306075859 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 06:14:03 [debug] Driver 0: pos -9603, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16664, writes 0 timeouts 0
2025-04-29 06:14:03 [debug] Last sensors broadcast 0x00000000 found 0 96 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 80, 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 383, adv 36051/37116
2025-04-29 06:14:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10414, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:14:03 [info] currentZPosition:0.0139
2025-04-29 06:14:04 [debug] Stopped at height 0.013 mm
2025-04-29 06:14:04 [debug] Diagnostics for board 50:
2025-04-29 06:14:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:14:04 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.2%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:01:55 ago, cause: software
2025-04-29 06:14:04 [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
2025-04-29 06:14:04 [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
2025-04-29 06:14:04 [debug] Moves scheduled 29417, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=528, frequency (Hz): min=1670, max=15306
Sync err accum 86, peak jitter -1/1, peak Rx delay 185, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1305032762 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max
2025-04-29 06:14:04 [debug] Driver 0: pos -9610, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16485, writes 0 timeouts 0
2025-04-29 06:14:04 [debug] Last sensors broadcast 0x00000000 found 0 236 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 82, 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 499, adv 36210/37102
2025-04-29 06:14:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10397, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:14:04 [info] currentZPosition:0.0132
2025-04-29 06:14:06 [debug] Stopped at height 0.014 mm
2025-04-29 06:14:06 [debug] Diagnostics for board 50:
2025-04-29 06:14:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:14:06 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:01:57 ago, cause: software
2025-04-29 06:14:06 [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
2025-04-29 06:14:06 [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
2025-04-29 06:14:06 [debug] Moves scheduled 29421, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=561, frequency (Hz): min=1164, max=15625
Sync err accum 85, peak jitter -1/1, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1303975264 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max
2025-04-29 06:14:06 [debug] Driver 0: pos -9606, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16679, writes 0 timeouts 0
2025-04-29 06:14:06 [debug] Last sensors broadcast 0x00000000 found 0 146 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 84, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36063/37107
2025-04-29 06:14:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10408, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:14:06 [info] currentZPosition:0.0136
2025-04-29 06:14:07 [debug] Stopped at height 0.013 mm
2025-04-29 06:14:07 [debug] Diagnostics for board 50:
2025-04-29 06:14:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:14:07 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:01:58 ago, cause: software
2025-04-29 06:14:07 [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
2025-04-29 06:14:07 [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
2025-04-29 06:14:07 [debug] Moves scheduled 29425, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 162, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=588, frequency (Hz): min=1518, max=15306
Sync err accum 82, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1302941301 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:14:07 [debug] Driver 0: pos -9609, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16346, writes 0 timeouts 0
2025-04-29 06:14:07 [debug] Last sensors broadcast 0x00000000 found 0 25 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 82, 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 430, adv 36350/37100
2025-04-29 06:14:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10452, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:14:07 [info] currentZPosition:0.0133
2025-04-29 06:14:08 [debug] Stopped at height 0.013 mm
2025-04-29 06:14:08 [debug] Diagnostics for board 50:
2025-04-29 06:14:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:14:08 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.1%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:02:00 ago, cause: software
2025-04-29 06:14:08 [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
2025-04-29 06:14:08 [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
2025-04-29 06:14:08 [debug] Moves scheduled 29429, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=506, frequency (Hz): min=1651, max=15306
Sync err accum 74, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1301876511 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:14:08 [debug] Driver 0: pos -9610, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16849, writes 0 timeouts 0
2025-04-29 06:14:08 [debug] Last sensors broadcast 0x00000000 found 0 195 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 82, 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 419, adv 36037/37099
2025-04-29 06:14:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10455, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:14:08 [info] currentZPosition:0.0132
2025-04-29 06:14:10 [debug] Stopped at height 0.014 mm
2025-04-29 06:14:10 [debug] Diagnostics for board 50:
2025-04-29 06:14:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:14:10 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:02:01 ago, cause: software
2025-04-29 06:14:10 [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
2025-04-29 06:14:10 [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
2025-04-29 06:14:10 [debug] Moves scheduled 29433, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 429, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=652, frequency (Hz): min=652, max=15306
Sync err accum 66, peak jitter -2/-1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1300857376 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max
2025-04-29 06:14:10 [debug] Driver 0: pos -9605, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16003, writes 11 timeouts 1
2025-04-29 06:14:10 [debug] Last sensors broadcast 0x00000000 found 0 54 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 81, 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 483, adv 36340/37087
2025-04-29 06:14:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10434, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:14:10 [info] currentZPosition:0.0137
2025-04-29 06:14:11 [debug] Stopped at height 0.013 mm
2025-04-29 06:14:11 [debug] Diagnostics for board 50:
2025-04-29 06:14:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:14:11 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.1%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:02:02 ago, cause: software
2025-04-29 06:14:11 [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
2025-04-29 06:14:11 [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
2025-04-29 06:14:11 [debug] Moves scheduled 29437, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=533, frequency (Hz): min=1696, max=15306
Sync err accum 64, peak jitter -2/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1299785206 ticks, 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
2025-04-29 06:14:11 [debug] Driver 0: pos -9611, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16950, writes 0 timeouts 0
2025-04-29 06:14:11 [debug] Last sensors broadcast 0x00000000 found 0 232 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 80, 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 392, adv 35997/37082
2025-04-29 06:14:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10433, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:14:11 [info] currentZPosition:0.0132
2025-04-29 06:14:13 [debug] Stopped at height 0.014 mm
2025-04-29 06:14:13 [debug] Diagnostics for board 50:
2025-04-29 06:14:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:14:13 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:02:04 ago, cause: software
2025-04-29 06:14:13 [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
2025-04-29 06:14:13 [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
2025-04-29 06:14:13 [debug] Moves scheduled 29441, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=596, frequency (Hz): min=1388, max=15306
Sync err accum 80, peak jitter 2/3, peak Rx delay 203, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1298764135 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:14:13 [debug] Driver 0: pos -9608, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16111, writes 0 timeouts 0
2025-04-29 06:14:13 [debug] Last sensors broadcast 0x00000000 found 0 96 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 85, 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 411, adv 36283/37080
2025-04-29 06:14:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10413, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:14:13 [info] currentZPosition:0.0135
2025-04-29 06:14:14 [debug] Stopped at height 0.012 mm
2025-04-29 06:14:14 [debug] Diagnostics for board 50:
2025-04-29 06:14:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:14:14 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:02:05 ago, cause: software
2025-04-29 06:14:14 [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
2025-04-29 06:14:14 [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
2025-04-29 06:14:14 [debug] Moves scheduled 29445, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 304, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=592, frequency (Hz): min=1518, max=15306
Sync err accum 89, peak jitter 1/2, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 1297678574 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:14:14 [debug] Driver 0: pos -9619, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17138, writes 0 timeouts 0
2025-04-29 06:14:14 [debug] Last sensors broadcast 0x00000000 found 0 42 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 90, 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 367, adv 36039/37125
2025-04-29 06:14:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10468, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:14:14 [info] currentZPosition:0.0124
2025-04-29 06:14:15 [debug] Stopped at height 0.014 mm
2025-04-29 06:14:15 [debug] Diagnostics for board 50:
2025-04-29 06:14:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:14:15 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 17:02:07 ago, cause: software
2025-04-29 06:14:15 [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
2025-04-29 06:14:15 [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
2025-04-29 06:14:15 [debug] Moves scheduled 29449, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=562, frequency (Hz): min=1401, max=15625
Sync err accum 94, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 1296677246 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:14:15 [debug] Driver 0: pos -9604, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15748, writes 0 timeouts 0
2025-04-29 06:14:15 [debug] Last sensors broadcast 0x00000000 found 0 127 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 80, 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 435, adv 36296/37106
2025-04-29 06:14:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10390, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:14:15 [info] currentZPosition:0.0140
2025-04-29 06:14:16 [debug] Stopped at height 0.012 mm
2025-04-29 06:14:17 [debug] Stopped at height 0.014 mm
2025-04-29 06:14:17 [debug] Diagnostics for board 50:
2025-04-29 06:14:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:14:17 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 17:02:08 ago, cause: software
2025-04-29 06:14:17 [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
2025-04-29 06:14:17 [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
2025-04-29 06:14:17 [debug] Moves scheduled 29455, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=604, frequency (Hz): min=1450, max=15306
Sync err accum 97, peak jitter 0/1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 1295377151 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:14:17 [debug] Driver 0: pos -9607, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20669, writes 0 timeouts 0
2025-04-29 06:14:17 [debug] Last sensors broadcast 0x00000000 found 0 112 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 105, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36085/37158
2025-04-29 06:14:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10422, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:14:17 [info] currentZPosition:0.0137
2025-04-29 06:14:17 [debug] Stopped at height 0.014 mm
2025-04-29 06:14:19 [debug] Stopped at height 0.014 mm
2025-04-29 06:14:19 [debug] Diagnostics for board 50:
2025-04-29 06:14:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:14:19 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.8%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:02:10 ago, cause: software
2025-04-29 06:14:19 [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
2025-04-29 06:14:19 [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
2025-04-29 06:14:19 [debug] Moves scheduled 29461, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=633, frequency (Hz): min=1325, max=15306
Sync err accum 95, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1294115611 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:14:19 [debug] Driver 0: pos -9603, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20057, writes 0 timeouts 0
2025-04-29 06:14:19 [debug] Last sensors broadcast 0x00000000 found 0 42 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 89, 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 403, adv 36320/37132
2025-04-29 06:14:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10408, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:14:19 [info] currentZPosition:0.0141
2025-04-29 06:14:20 [debug] Stopped at height 0.014 mm
2025-04-29 06:14:20 [debug] Diagnostics for board 50:
2025-04-29 06:14:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:14:20 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.2%
Owned mutexes:
Last reset 17:02:11 ago, cause: software
2025-04-29 06:14:20 [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
2025-04-29 06:14:20 [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
2025-04-29 06:14:20 [debug] Moves scheduled 29465, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=578, frequency (Hz): min=1175, max=15306
Sync err accum 90, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1293048866 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:14:20 [debug] Driver 0: pos -9605, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16908, writes 0 timeouts 0
2025-04-29 06:14:20 [debug] Last sensors broadcast 0x00000000 found 0 216 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 81, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36055/37131
2025-04-29 06:14:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10432, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:14:20 [info] currentZPosition:0.0139
2025-04-29 06:14:22 [debug] Stopped at height 0.013 mm
2025-04-29 06:14:22 [debug] Diagnostics for board 50:
2025-04-29 06:14:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:14:22 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:02:13 ago, cause: software
2025-04-29 06:14:22 [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
2025-04-29 06:14:22 [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
2025-04-29 06:14:22 [debug] Moves scheduled 29469, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=452, frequency (Hz): min=1549, max=15625
Sync err accum 81, peak jitter -2/-1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 1291998914 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 06:14:22 [debug] Driver 0: pos -9615, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16617, writes 0 timeouts 0
2025-04-29 06:14:22 [debug] Last sensors broadcast 0x00000000 found 0 114 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 91, 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 431, adv 36328/37095
2025-04-29 06:14:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10458, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:14:22 [info] currentZPosition:0.0129
2025-04-29 06:14:23 [debug] Stopped at height 0.013 mm
2025-04-29 06:14:23 [debug] Diagnostics for board 50:
2025-04-29 06:14:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:14:23 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:02:14 ago, cause: software
2025-04-29 06:14:23 [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
2025-04-29 06:14:23 [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
2025-04-29 06:14:23 [debug] Moves scheduled 29473, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=658, frequency (Hz): min=1431, max=15306
Sync err accum 67, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1290928812 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatu
2025-04-29 06:14:23 [debug] Driver 0: pos -9616, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16924, writes 0 timeouts 0
2025-04-29 06:14:23 [debug] Last sensors broadcast 0x00000000 found 0 42 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 88, send timeouts 0, received 22, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36011/37122
2025-04-29 06:14:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10438, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2279
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:14:23 [info] currentZPosition:0.0128
2025-04-29 06:14:24 [debug] Stopped at height 0.013 mm
2025-04-29 06:14:24 [debug] Diagnostics for board 50:
2025-04-29 06:14:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:14:24 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:02:16 ago, cause: software
2025-04-29 06:14:24 [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
2025-04-29 06:14:24 [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
2025-04-29 06:14:24 [debug] Moves scheduled 29477, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=478, frequency (Hz): min=533, max=15306
Sync err accum 60, peak jitter -3/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1289896175 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:14:24 [debug] Driver 0: pos -9615, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16285, writes 11 timeouts 1
2025-04-29 06:14:24 [debug] Last sensors broadcast 0x00000000 found 0 170 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 87, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 364, adv 36349/37134
2025-04-29 06:14:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10457, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:14:24 [info] currentZPosition:0.0129
2025-04-29 06:14:26 [debug] Stopped at height 0.013 mm
2025-04-29 06:14:26 [debug] Diagnostics for board 50:
2025-04-29 06:14:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:14:26 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.1%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:02:17 ago, cause: software
2025-04-29 06:14:26 [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
2025-04-29 06:14:26 [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
2025-04-29 06:14:26 [debug] Moves scheduled 29481, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=492, frequency (Hz): min=1670, max=15625
Sync err accum 76, peak jitter 1/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1288842125 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:14:26 [debug] Driver 0: pos -9610, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16694, writes 0 timeouts 0
2025-04-29 06:14:26 [debug] Last sensors broadcast 0x00000000 found 0 74 ticks ago, 0 ordering errs, loop time 2
CAN messages queued 84, 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 378, adv 36037/37093
2025-04-29 06:14:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10414, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:14:26 [info] currentZPosition:0.0134
2025-04-29 06:14:27 [debug] Stopped at height 0.014 mm
2025-04-29 06:14:27 [debug] Diagnostics for board 50:
2025-04-29 06:14:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:14:27 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:02:18 ago, cause: software
2025-04-29 06:14:27 [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
2025-04-29 06:14:27 [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
2025-04-29 06:14:27 [debug] Moves scheduled 29485, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 309, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=737, frequency (Hz): min=1148, max=15625
Sync err accum 91, peak jitter 2/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1287816916 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 06:14:27 [debug] Driver 0: pos -9608, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16142, writes 0 timeouts 0
2025-04-29 06:14:27 [debug] Last sensors broadcast 0x00000000 found 0 189 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 79, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36323/37115
2025-04-29 06:14:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10402, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:14:27 [info] currentZPosition:0.0136
2025-04-29 06:14:29 [debug] Stopped at height 0.014 mm
2025-04-29 06:14:29 [debug] Diagnostics for board 50:
2025-04-29 06:14:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:14:29 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:02:20 ago, cause: software
2025-04-29 06:14:29 [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
2025-04-29 06:14:29 [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
2025-04-29 06:14:29 [debug] Moves scheduled 29489, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=466, frequency (Hz): min=1666, max=15000
Sync err accum 102, peak jitter 1/2, peak Rx delay 189, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 1286760476 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:14:29 [debug] Driver 0: pos -9604, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16701, writes 0 timeouts 0
2025-04-29 06:14:29 [debug] Last sensors broadcast 0x00000000 found 0 100 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 80, 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 385, adv 35995/37132
2025-04-29 06:14:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10433, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:14:29 [info] currentZPosition:0.0140
2025-04-29 06:14:30 [debug] Stopped at height 0.014 mm
2025-04-29 06:14:30 [debug] Diagnostics for board 50:
2025-04-29 06:14:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:14:30 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:02:21 ago, cause: software
2025-04-29 06:14:30 [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
2025-04-29 06:14:30 [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
2025-04-29 06:14:30 [debug] Moves scheduled 29493, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=646, frequency (Hz): min=1290, max=15306
Sync err accum 107, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1285726876 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max
2025-04-29 06:14:30 [debug] Driver 0: pos -9606, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16297, writes 0 timeouts 0
2025-04-29 06:14:30 [debug] Last sensors broadcast 0x00000000 found 0 228 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 78, 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 378, adv 36351/37119
2025-04-29 06:14:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10412, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:14:30 [info] currentZPosition:0.0138
2025-04-29 06:14:31 [debug] Stopped at height 0.013 mm
2025-04-29 06:14:31 [debug] Diagnostics for board 50:
2025-04-29 06:14:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:14:31 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:02:23 ago, cause: software
2025-04-29 06:14:31 [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
2025-04-29 06:14:31 [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
2025-04-29 06:14:31 [debug] Moves scheduled 29497, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 329, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=594, frequency (Hz): min=1388, max=15306
Sync err accum 110, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1284641598 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, ma
2025-04-29 06:14:31 [debug] Driver 0: pos -9616, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17156, writes 0 timeouts 0
2025-04-29 06:14:31 [debug] Last sensors broadcast 0x00000000 found 0 177 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 90, 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 441, adv 36032/37075
2025-04-29 06:14:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2279
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10454, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:14:31 [info] currentZPosition:0.0128
2025-04-29 06:14:33 [debug] Stopped at height 0.014 mm
2025-04-29 06:14:33 [debug] Diagnostics for board 50:
2025-04-29 06:14:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:14:33 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.8%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:02:24 ago, cause: software
2025-04-29 06:14:33 [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
2025-04-29 06:14:33 [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
2025-04-29 06:14:33 [debug] Moves scheduled 29501, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=586, frequency (Hz): min=1329, max=15306
Sync err accum 110, peak jitter 0/0, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1283629035 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:14:33 [debug] Driver 0: pos -9606, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15938, writes 0 timeouts 0
2025-04-29 06:14:33 [debug] Last sensors broadcast 0x00000000 found 0 25 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 82, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36303/37110
2025-04-29 06:14:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10392, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:14:33 [info] currentZPosition:0.0138
2025-04-29 06:14:34 [debug] Stopped at height 0.014 mm
2025-04-29 06:14:34 [debug] Diagnostics for board 50:
2025-04-29 06:14:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:14:34 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.1%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:02:25 ago, cause: software
2025-04-29 06:14:34 [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
2025-04-29 06:14:34 [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
2025-04-29 06:14:34 [debug] Moves scheduled 29505, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 161, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=677, frequency (Hz): min=1159, max=15306
Sync err accum 105, peak jitter -1/0, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1282566849 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, ma
2025-04-29 06:14:34 [debug] Driver 0: pos -9605, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16808, writes 0 timeouts 0
2025-04-29 06:14:34 [debug] Last sensors broadcast 0x00000000 found 0 192 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 80, 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 406, adv 36018/37116
2025-04-29 06:14:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10391, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:14:34 [info] currentZPosition:0.0139
2025-04-29 06:14:36 [debug] Stopped at height 0.014 mm
2025-04-29 06:14:36 [debug] Diagnostics for board 50:
2025-04-29 06:14:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:14:36 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 17:02:27 ago, cause: software
2025-04-29 06:14:36 [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
2025-04-29 06:14:36 [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
2025-04-29 06:14:36 [debug] Moves scheduled 29509, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=578, frequency (Hz): min=1436, max=15306
Sync err accum 99, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 1281535558 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:14:36 [debug] Driver 0: pos -9607, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16295, writes 0 timeouts 0
2025-04-29 06:14:36 [debug] Last sensors broadcast 0x00000000 found 0 67 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 80, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36300/37120
2025-04-29 06:14:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10427, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:14:36 [info] currentZPosition:0.0137
2025-04-29 06:14:37 [debug] Stopped at height 0.014 mm
2025-04-29 06:14:37 [debug] Diagnostics for board 50:
2025-04-29 06:14:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:14:37 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:02:28 ago, cause: software
2025-04-29 06:14:37 [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
2025-04-29 06:14:37 [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
2025-04-29 06:14:37 [debug] Moves scheduled 29513, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=594, frequency (Hz): min=1391, max=15306
Sync err accum 89, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 1280478245 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 06:14:37 [debug] Driver 0: pos -9606, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16784, writes 0 timeouts 0
2025-04-29 06:14:37 [debug] Last sensors broadcast 0x00000000 found 0 225 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 81, 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 387, adv 36027/37117
2025-04-29 06:14:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10431, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:14:37 [info] currentZPosition:0.0138
2025-04-29 06:14:38 [debug] Stopped at height 0.014 mm
2025-04-29 06:14:38 [debug] Diagnostics for board 50:
2025-04-29 06:14:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:14:38 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 17:02:30 ago, cause: software
2025-04-29 06:14:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:14:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:14:38 [debug] Moves scheduled 29517, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=557, frequency (Hz): min=1565, max=15306
Sync err accum 76, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 1279454933 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 06:14:38 [debug] Driver 0: pos -9606, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16159, writes 0 timeouts 0
2025-04-29 06:14:38 [debug] Last sensors broadcast 0x00000000 found 0 90 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 83, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36311/37111
2025-04-29 06:14:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10404, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:14:38 [info] currentZPosition:0.0138
2025-04-29 06:14:40 [debug] Stopped at height 0.013 mm
2025-04-29 06:14:40 [debug] Diagnostics for board 50:
2025-04-29 06:14:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:14:40 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 17:02:31 ago, cause: software
2025-04-29 06:14:40 [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
2025-04-29 06:14:40 [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
2025-04-29 06:14:40 [debug] Moves scheduled 29521, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=661, frequency (Hz): min=1366, max=15306
Sync err accum 59, peak jitter -3/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 1 ticks, disabled, next step interrupt due in 1278379201 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 06:14:40 [debug] Driver 0: pos -9612, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16941, writes 0 timeouts 0
2025-04-29 06:14:40 [debug] Last sensors broadcast 0x00000000 found 0 25 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 85, 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 393, adv 36058/37080
2025-04-29 06:14:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10450, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:14:40 [info] currentZPosition:0.0132
2025-04-29 06:14:41 [debug] Stopped at height 0.014 mm
2025-04-29 06:14:41 [debug] Diagnostics for board 50:
2025-04-29 06:14:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:14:41 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.7%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:02:32 ago, cause: software
2025-04-29 06:14:41 [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
2025-04-29 06:14:41 [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
2025-04-29 06:14:41 [debug] Moves scheduled 29525, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=520, frequency (Hz): min=840, max=15306
Sync err accum 70, peak jitter 0/4, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 1277358691 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, curr
2025-04-29 06:14:41 [debug] Driver 0: pos -9608, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15988, writes 11 timeouts 1
2025-04-29 06:14:41 [debug] Last sensors broadcast 0x00000000 found 0 134 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 78, 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 375, adv 36319/37150
2025-04-29 06:14:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10426, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:14:41 [info] currentZPosition:0.0136
2025-04-29 06:14:42 [debug] Stopped at height 0.014 mm
2025-04-29 06:14:42 [debug] Diagnostics for board 50:
2025-04-29 06:14:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:14:42 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:02:34 ago, cause: software
2025-04-29 06:14:42 [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
2025-04-29 06:14:42 [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
2025-04-29 06:14:42 [debug] Moves scheduled 29529, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 161, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=650, frequency (Hz): min=1221, max=15306
Sync err accum 83, peak jitter 1/3, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 1276303801 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:14:42 [debug] Driver 0: pos -9603, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16644, writes 0 timeouts 0
2025-04-29 06:14:42 [debug] Last sensors broadcast 0x00000000 found 0 43 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 80, 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 368, adv 36050/37122
2025-04-29 06:14:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10422, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:14:43 [info] currentZPosition:0.0141
2025-04-29 06:14:44 [debug] Stopped at height 0.014 mm
2025-04-29 06:14:44 [debug] Diagnostics for board 50:
2025-04-29 06:14:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:14:44 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 17:02:35 ago, cause: software
2025-04-29 06:14:44 [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
2025-04-29 06:14:44 [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
2025-04-29 06:14:44 [debug] Moves scheduled 29533, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=617, frequency (Hz): min=1373, max=15306
Sync err accum 91, peak jitter 0/2, peak Rx delay 186, resyncs 0/0, next timer interrupt due in 0 ticks, enabled, next step interrupt due in 1275273972 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:14:44 [debug] Driver 0: pos -9607, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16269, writes 0 timeouts 0
2025-04-29 06:14:44 [debug] Last sensors broadcast 0x00000000 found 0 165 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 79, 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 371, adv 36341/37148
2025-04-29 06:14:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10395, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:14:44 [info] currentZPosition:0.0137
2025-04-29 06:14:45 [debug] Stopped at height 0.013 mm
2025-04-29 06:14:45 [debug] Diagnostics for board 50:
2025-04-29 06:14:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:14:45 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:02:37 ago, cause: software
2025-04-29 06:14:45 [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
2025-04-29 06:14:45 [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
2025-04-29 06:14:45 [debug] Moves scheduled 29537, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=644, frequency (Hz): min=1290, max=15306
Sync err accum 96, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1274206185 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:14:45 [debug] Driver 0: pos -9611, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16792, writes 0 timeouts 0
2025-04-29 06:14:45 [debug] Last sensors broadcast 0x00000000 found 0 88 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 85, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36057/37096
2025-04-29 06:14:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10453, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:14:45 [info] currentZPosition:0.0133
2025-04-29 06:14:47 [debug] Stopped at height 0.013 mm
2025-04-29 06:14:47 [debug] Diagnostics for board 50:
2025-04-29 06:14:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:14:47 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:02:38 ago, cause: software
2025-04-29 06:14:47 [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
2025-04-29 06:14:47 [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
2025-04-29 06:14:47 [debug] Moves scheduled 29541, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=614, frequency (Hz): min=1373, max=15306
Sync err accum 96, peak jitter -1/1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1273165860 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:14:47 [debug] Driver 0: pos -9616, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16412, writes 0 timeouts 0
2025-04-29 06:14:47 [debug] Last sensors broadcast 0x00000000 found 0 229 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 87, 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 411, adv 36347/37103
2025-04-29 06:14:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10433, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:14:47 [info] currentZPosition:0.0128
2025-04-29 06:14:48 [debug] Stopped at height 0.013 mm
2025-04-29 06:14:48 [debug] Diagnostics for board 50:
2025-04-29 06:14:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:14:48 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:02:39 ago, cause: software
2025-04-29 06:14:48 [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
2025-04-29 06:14:48 [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
2025-04-29 06:14:48 [debug] Moves scheduled 29545, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=548, frequency (Hz): min=1315, max=15306
Sync err accum 92, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1272101609 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max
2025-04-29 06:14:48 [debug] Driver 0: pos -9616, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16834, writes 0 timeouts 0
2025-04-29 06:14:48 [debug] Last sensors broadcast 0x00000000 found 0 145 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 90, 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 369, adv 36082/37143
2025-04-29 06:14:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2279
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10435, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:14:48 [info] currentZPosition:0.0129
2025-04-29 06:14:49 [debug] Stopped at height 0.013 mm
2025-04-29 06:14:49 [debug] Diagnostics for board 50:
2025-04-29 06:14:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:14:49 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:02:41 ago, cause: software
2025-04-29 06:14:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:14:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:14:49 [debug] Moves scheduled 29549, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=704, frequency (Hz): min=1155, max=15306
Sync err accum 84, peak jitter -2/-1, peak Rx delay 204, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1271081347 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, ma
2025-04-29 06:14:49 [debug] Driver 0: pos -9611, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16063, writes 0 timeouts 0
2025-04-29 06:14:49 [debug] Last sensors broadcast 0x00000000 found 0 4 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 85, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 36371/37124
2025-04-29 06:14:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10440, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:14:50 [info] currentZPosition:0.0134
2025-04-29 06:14:51 [debug] Stopped at height 0.012 mm
2025-04-29 06:14:51 [debug] Diagnostics for board 50:
2025-04-29 06:14:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:14:51 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.8%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:02:42 ago, cause: software
2025-04-29 06:14:51 [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
2025-04-29 06:14:51 [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
2025-04-29 06:14:51 [debug] Moves scheduled 29553, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=593, frequency (Hz): min=657, max=15306
Sync err accum 73, peak jitter -2/-1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 1269979882 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:14:51 [debug] Driver 0: pos -9628, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17257, writes 11 timeouts 1
2025-04-29 06:14:51 [debug] Last sensors broadcast 0x00000000 found 0 225 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 97, 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 356, adv 36060/37141
2025-04-29 06:14:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10488, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2281
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:14:51 [info] currentZPosition:0.0117
2025-04-29 06:14:51 [debug] Stopped at height 0.013 mm
2025-04-29 06:14:53 [debug] Stopped at height 0.014 mm
2025-04-29 06:14:53 [debug] Diagnostics for board 50:
2025-04-29 06:14:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:14:53 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.7%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:02:44 ago, cause: software
2025-04-29 06:14:53 [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
2025-04-29 06:14:53 [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
2025-04-29 06:14:53 [debug] Moves scheduled 29559, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=520, frequency (Hz): min=1655, max=15625
Sync err accum 62, peak jitter -3/0, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 1268756938 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:14:53 [debug] Driver 0: pos -9606, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 19483, writes 0 timeouts 0
2025-04-29 06:14:53 [debug] Last sensors broadcast 0x00000000 found 0 103 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 88, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36345/37121
2025-04-29 06:14:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10429, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:14:53 [info] currentZPosition:0.0139
2025-04-29 06:14:53 [debug] Stopped at height 0.014 mm
2025-04-29 06:14:54 [debug] Stopped at height 0.014 mm
2025-04-29 06:14:54 [debug] Diagnostics for board 50:
2025-04-29 06:14:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:14:54 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.3%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:02:46 ago, cause: software
2025-04-29 06:14:54 [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
2025-04-29 06:14:54 [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
2025-04-29 06:14:54 [debug] Moves scheduled 29565, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 524, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=654, frequency (Hz): min=1363, max=15306
Sync err accum 72, peak jitter 1/2, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1267449254 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:14:54 [debug] Driver 0: pos -9610, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20924, writes 0 timeouts 0
2025-04-29 06:14:54 [debug] Last sensors broadcast 0x00000000 found 0 99 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 91, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36035/37121
2025-04-29 06:14:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10447, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:14:54 [info] currentZPosition:0.0135
2025-04-29 06:14:56 [debug] Stopped at height 0.014 mm
2025-04-29 06:14:56 [debug] Diagnostics for board 50:
2025-04-29 06:14:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:14:56 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 17:02:47 ago, cause: software
2025-04-29 06:14:56 [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
2025-04-29 06:14:56 [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
2025-04-29 06:14:56 [debug] Moves scheduled 29569, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=569, frequency (Hz): min=1450, max=15306
Sync err accum 76, peak jitter 0/1, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1266420261 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:14:56 [debug] Driver 0: pos -9609, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 19677, writes 0 timeouts 0
2025-04-29 06:14:56 [debug] Last sensors broadcast 0x00000000 found 0 8 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 96, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 368, adv 36376/37096
2025-04-29 06:14:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10441, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:14:56 [info] currentZPosition:0.0137
2025-04-29 06:14:58 [debug] Stopped at height 0.014 mm
2025-04-29 06:14:58 [debug] Diagnostics for board 50:
2025-04-29 06:14:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:14:58 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 17:02:49 ago, cause: software
2025-04-29 06:14:58 [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
2025-04-29 06:14:58 [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
2025-04-29 06:14:58 [debug] Moves scheduled 29573, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=710, frequency (Hz): min=1219, max=15625
Sync err accum 78, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 1264464313 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:14:58 [debug] Driver 0: pos -9609, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 29164, writes 0 timeouts 0
2025-04-29 06:14:58 [debug] Last sensors broadcast 0x00000000 found 0 80 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 135, 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 387, adv 36016/37113
2025-04-29 06:14:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10448, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:14:59 [info] currentZPosition:0.0137
2025-04-29 06:15:00 [debug] Stopped at height 0.014 mm
2025-04-29 06:15:00 [debug] Diagnostics for board 50:
2025-04-29 06:15:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:15:00 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 17:02:51 ago, cause: software
2025-04-29 06:15:00 [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
2025-04-29 06:15:00 [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
2025-04-29 06:15:00 [debug] Moves scheduled 29577, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=788, frequency (Hz): min=1196, max=15625
Sync err accum 70, peak jitter -1/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1263247928 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatu
2025-04-29 06:15:00 [debug] Driver 0: pos -9609, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17846, writes 0 timeouts 0
2025-04-29 06:15:00 [debug] Last sensors broadcast 0x00000000 found 0 200 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 82, 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 511, adv 36214/37093
2025-04-29 06:15:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10453, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:15:00 [info] currentZPosition:0.0137
2025-04-29 06:15:01 [debug] Stopped at height 0.013 mm
2025-04-29 06:15:01 [debug] Diagnostics for board 50:
2025-04-29 06:15:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:15:01 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:02:53 ago, cause: software
2025-04-29 06:15:01 [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
2025-04-29 06:15:01 [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
2025-04-29 06:15:01 [debug] Moves scheduled 29581, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 272, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=756, frequency (Hz): min=1184, max=15306
Sync err accum 64, peak jitter -2/1, peak Rx delay 234, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1262177706 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:15:01 [debug] Driver 0: pos -9612, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16866, writes 0 timeouts 0
2025-04-29 06:15:01 [debug] Last sensors broadcast 0x00000000 found 0 128 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 87, 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 360, adv 36057/37169
2025-04-29 06:15:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10458, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:15:01 [info] currentZPosition:0.0134
2025-04-29 06:15:03 [debug] Stopped at height 0.014 mm
2025-04-29 06:15:03 [debug] Diagnostics for board 50:
2025-04-29 06:15:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:15:03 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:02:54 ago, cause: software
2025-04-29 06:15:03 [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
2025-04-29 06:15:03 [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
2025-04-29 06:15:03 [debug] Moves scheduled 29585, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=584, frequency (Hz): min=1456, max=28846
Sync err accum 65, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1261161886 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:15:03 [debug] Driver 0: pos -9607, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16033, writes 0 timeouts 0
2025-04-29 06:15:03 [debug] Last sensors broadcast 0x00000000 found 0 233 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 78, send timeouts 0, received 22, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 394, adv 36095/37123
2025-04-29 06:15:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10420, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:15:03 [info] currentZPosition:0.0139
2025-04-29 06:15:04 [debug] Stopped at height 0.014 mm
2025-04-29 06:15:04 [debug] Diagnostics for board 50:
2025-04-29 06:15:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:15:04 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:02:55 ago, cause: software
2025-04-29 06:15:04 [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
2025-04-29 06:15:04 [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
2025-04-29 06:15:04 [debug] Moves scheduled 29589, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 164, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=793, frequency (Hz): min=1138, max=15306
Sync err accum 64, peak jitter -1/0, peak Rx delay 171, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1260100261 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max
2025-04-29 06:15:04 [debug] Driver 0: pos -9608, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16754, writes 0 timeouts 0
2025-04-29 06:15:04 [debug] Last sensors broadcast 0x00000000 found 0 146 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 85, 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 381, adv 36041/37119
2025-04-29 06:15:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10408, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:15:04 [info] currentZPosition:0.0138
2025-04-29 06:15:05 [debug] Stopped at height 0.013 mm
2025-04-29 06:15:05 [debug] Diagnostics for board 50:
2025-04-29 06:15:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:15:05 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:02:57 ago, cause: software
2025-04-29 06:15:05 [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
2025-04-29 06:15:05 [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
2025-04-29 06:15:05 [debug] Moves scheduled 29593, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=710, frequency (Hz): min=1166, max=15306
Sync err accum 68, peak jitter -1/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1259062904 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max
2025-04-29 06:15:05 [debug] Driver 0: pos -9613, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16377, writes 0 timeouts 0
2025-04-29 06:15:05 [debug] Last sensors broadcast 0x00000000 found 0 31 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 84, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 367, adv 36079/37132
2025-04-29 06:15:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10445, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:15:06 [info] currentZPosition:0.0133
2025-04-29 06:15:07 [debug] Stopped at height 0.014 mm
2025-04-29 06:15:07 [debug] Diagnostics for board 50:
2025-04-29 06:15:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:15:07 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:02:58 ago, cause: software
2025-04-29 06:15:07 [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
2025-04-29 06:15:07 [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
2025-04-29 06:15:07 [debug] Moves scheduled 29597, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 1006, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=570, frequency (Hz): min=1391, max=15306
Sync err accum 78, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1258003877 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:15:07 [debug] Driver 0: pos -9610, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16765, writes 0 timeouts 0
2025-04-29 06:15:07 [debug] Last sensors broadcast 0x00000000 found 0 193 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 81, 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 386, adv 36025/37071
2025-04-29 06:15:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10449, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:15:07 [info] currentZPosition:0.0136
2025-04-29 06:15:08 [debug] Stopped at height 0.014 mm
2025-04-29 06:15:08 [debug] Diagnostics for board 50:
2025-04-29 06:15:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:15:08 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:03:00 ago, cause: software
2025-04-29 06:15:08 [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
2025-04-29 06:15:08 [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
2025-04-29 06:15:08 [debug] Moves scheduled 29601, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 256, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=446, frequency (Hz): min=1396, max=15306
Sync err accum 83, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 1256976077 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:15:08 [debug] Driver 0: pos -9608, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16225, writes 0 timeouts 0
2025-04-29 06:15:08 [debug] Last sensors broadcast 0x00000000 found 0 63 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 86, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36063/37122
2025-04-29 06:15:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10412, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:15:08 [info] currentZPosition:0.0138
2025-04-29 06:15:10 [debug] Stopped at height 0.013 mm
2025-04-29 06:15:10 [debug] Diagnostics for board 50:
2025-04-29 06:15:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:15:10 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:03:01 ago, cause: software
2025-04-29 06:15:10 [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
2025-04-29 06:15:10 [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
2025-04-29 06:15:10 [debug] Moves scheduled 29605, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 243, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=594, frequency (Hz): min=1336, max=15306
Sync err accum 83, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1255903910 ticks, 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
2025-04-29 06:15:10 [debug] Driver 0: pos -9615, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16914, writes 0 timeouts 0
2025-04-29 06:15:10 [debug] Last sensors broadcast 0x00000000 found 0 243 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 84, 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 380, adv 36054/37147
2025-04-29 06:15:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10415, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:15:10 [info] currentZPosition:0.0131
2025-04-29 06:15:11 [debug] Stopped at height 0.015 mm
2025-04-29 06:15:11 [debug] Diagnostics for board 50:
2025-04-29 06:15:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:15:11 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.7%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:03:02 ago, cause: software
2025-04-29 06:15:11 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:15:11 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:15:11 [debug] Moves scheduled 29609, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=788, frequency (Hz): min=1190, max=15306
Sync err accum 80, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1254909037 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:15:11 [debug] Driver 0: pos -9600, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15667, writes 0 timeouts 0
2025-04-29 06:15:11 [debug] Last sensors broadcast 0x00000000 found 0 68 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 80, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36082/37076
2025-04-29 06:15:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10394, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:15:11 [info] currentZPosition:0.0146
2025-04-29 06:15:11 [debug] Stopped at height 0.014 mm
2025-04-29 06:15:13 [debug] Stopped at height 0.014 mm
2025-04-29 06:15:13 [debug] Diagnostics for board 50:
2025-04-29 06:15:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:15:13 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.3%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:03:04 ago, cause: software
2025-04-29 06:15:13 [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
2025-04-29 06:15:13 [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
2025-04-29 06:15:13 [debug] Moves scheduled 29615, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 379, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=705, frequency (Hz): min=1284, max=15306
Sync err accum 72, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1253609626 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:15:13 [debug] Driver 0: pos -9605, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20747, writes 0 timeouts 0
2025-04-29 06:15:13 [debug] Last sensors broadcast 0x00000000 found 0 50 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 89, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 35996/37118
2025-04-29 06:15:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10438, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:15:13 [info] currentZPosition:0.0141
2025-04-29 06:15:14 [debug] Stopped at height 0.014 mm
2025-04-29 06:15:14 [debug] Diagnostics for board 50:
2025-04-29 06:15:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:15:14 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.1%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:03:05 ago, cause: software
2025-04-29 06:15:14 [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
2025-04-29 06:15:14 [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
2025-04-29 06:15:14 [debug] Moves scheduled 29619, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=813, frequency (Hz): min=1146, max=15625
Sync err accum 63, peak jitter -2/-1, peak Rx delay 187, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1252580833 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatu
2025-04-29 06:15:14 [debug] Driver 0: pos -9609, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16297, writes 0 timeouts 0
2025-04-29 06:15:14 [debug] Last sensors broadcast 0x00000000 found 0 174 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 80, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36050/37120
2025-04-29 06:15:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10426, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:15:14 [info] currentZPosition:0.0137
2025-04-29 06:15:16 [debug] Stopped at height 0.013 mm
2025-04-29 06:15:16 [debug] Diagnostics for board 50:
2025-04-29 06:15:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:15:16 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.2%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:03:07 ago, cause: software
2025-04-29 06:15:16 [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
2025-04-29 06:15:16 [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
2025-04-29 06:15:16 [debug] Moves scheduled 29623, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=601, frequency (Hz): min=1209, max=15625
Sync err accum 70, peak jitter -1/2, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1251510894 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:15:16 [debug] Driver 0: pos -9612, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16886, writes 0 timeouts 0
2025-04-29 06:15:16 [debug] Last sensors broadcast 0x00000000 found 0 99 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 85, 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 381, adv 36029/37123
2025-04-29 06:15:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10421, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4696, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:15:16 [info] currentZPosition:0.0134
2025-04-29 06:15:17 [debug] Stopped at height 0.013 mm
2025-04-29 06:15:17 [debug] Diagnostics for board 50:
2025-04-29 06:15:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:15:17 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:03:08 ago, cause: software
2025-04-29 06:15:17 [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
2025-04-29 06:15:17 [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
2025-04-29 06:15:17 [debug] Moves scheduled 29627, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 267, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=645, frequency (Hz): min=1320, max=15306
Sync err accum 73, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 1250477923 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:15:17 [debug] Driver 0: pos -9613, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16190, writes 0 timeouts 0
2025-04-29 06:15:17 [debug] Last sensors broadcast 0x00000000 found 0 228 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 82, 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 599, adv 36092/37091
2025-04-29 06:15:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10462, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:15:17 [info] currentZPosition:0.0133
2025-04-29 06:15:18 [debug] Stopped at height 0.014 mm
2025-04-29 06:15:18 [debug] Diagnostics for board 50:
2025-04-29 06:15:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:15:18 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:03:10 ago, cause: software
2025-04-29 06:15:18 [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
2025-04-29 06:15:18 [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
2025-04-29 06:15:18 [debug] Moves scheduled 29631, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 1099, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=650, frequency (Hz): min=1247, max=15306
Sync err accum 76, peak jitter 0/1, peak Rx delay 171, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1249424014 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:15:18 [debug] Driver 0: pos -9610, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16638, writes 0 timeouts 0
2025-04-29 06:15:18 [debug] Last sensors broadcast 0x00000000 found 0 132 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 81, 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 378, adv 36018/37112
2025-04-29 06:15:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10433, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:15:18 [info] currentZPosition:0.0136
2025-04-29 06:15:20 [debug] Stopped at height 0.014 mm
2025-04-29 06:15:20 [debug] Diagnostics for board 50:
2025-04-29 06:15:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:15:20 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.2%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:03:11 ago, cause: software
2025-04-29 06:15:20 [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
2025-04-29 06:15:20 [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
2025-04-29 06:15:20 [debug] Moves scheduled 29635, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 726, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=728, frequency (Hz): min=1302, max=15306
Sync err accum 73, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1248408729 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:15:20 [debug] Driver 0: pos -9606, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16039, writes 0 timeouts 0
2025-04-29 06:15:20 [debug] Last sensors broadcast 0x00000000 found 0 234 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 78, 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 370, adv 36140/37129
2025-04-29 06:15:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10436, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:15:20 [info] currentZPosition:0.0141
2025-04-29 06:15:21 [debug] Stopped at height 0.014 mm
2025-04-29 06:15:21 [debug] Diagnostics for board 50:
2025-04-29 06:15:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:15:21 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:03:12 ago, cause: software
2025-04-29 06:15:21 [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
2025-04-29 06:15:21 [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
2025-04-29 06:15:21 [debug] Moves scheduled 29639, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=704, frequency (Hz): min=1313, max=15306
Sync err accum 65, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 1247342181 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:15:21 [debug] Driver 0: pos -9606, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16841, writes 0 timeouts 0
2025-04-29 06:15:21 [debug] Last sensors broadcast 0x00000000 found 0 159 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 81, 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 378, adv 36024/37146
2025-04-29 06:15:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10422, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:15:21 [info] currentZPosition:0.0141
2025-04-29 06:15:22 [debug] Stopped at height 0.014 mm
2025-04-29 06:15:22 [debug] Diagnostics for board 50:
2025-04-29 06:15:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:15:22 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:03:14 ago, cause: software
2025-04-29 06:15:22 [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
2025-04-29 06:15:22 [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
2025-04-29 06:15:22 [debug] Moves scheduled 29643, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=578, frequency (Hz): min=1320, max=15625
Sync err accum 67, peak jitter -2/3, peak Rx delay 171, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1246318343 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:15:22 [debug] Driver 0: pos -9604, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16136, writes 0 timeouts 0
2025-04-29 06:15:22 [debug] Last sensors broadcast 0x00000000 found 0 22 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 81, 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 407, adv 36109/37148
2025-04-29 06:15:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10384, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:15:23 [info] currentZPosition:0.0143
2025-04-29 06:15:24 [debug] Stopped at height 0.014 mm
2025-04-29 06:15:24 [debug] Diagnostics for board 50:
2025-04-29 06:15:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:15:24 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:03:15 ago, cause: software
2025-04-29 06:15:24 [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
2025-04-29 06:15:24 [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
2025-04-29 06:15:24 [debug] Moves scheduled 29647, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=450, frequency (Hz): min=1482, max=15306
Sync err accum 78, peak jitter 1/3, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1245240567 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:15:24 [debug] Driver 0: pos -9611, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17023, writes 0 timeouts 0
2025-04-29 06:15:24 [debug] Last sensors broadcast 0x00000000 found 0 209 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 81, 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 406, adv 36006/37152
2025-04-29 06:15:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10445, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:15:24 [info] currentZPosition:0.0137
2025-04-29 06:15:25 [debug] Stopped at height 0.014 mm
2025-04-29 06:15:25 [debug] Diagnostics for board 50:
2025-04-29 06:15:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:15:25 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:03:17 ago, cause: software
2025-04-29 06:15:25 [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
2025-04-29 06:15:25 [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
2025-04-29 06:15:25 [debug] Moves scheduled 29651, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 229, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=586, frequency (Hz): min=1549, max=15306
Sync err accum 85, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 4294967244 ticks, disabled, CC0 mismatch!!, next step interrupt due in 1244225110 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU t
2025-04-29 06:15:25 [debug] Driver 0: pos -9605, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15952, writes 0 timeouts 0
2025-04-29 06:15:25 [debug] Last sensors broadcast 0x00000000 found 0 64 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 81, 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 394, adv 36096/37086
2025-04-29 06:15:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10422, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:15:25 [info] currentZPosition:0.0143
2025-04-29 06:15:27 [debug] Stopped at height 0.015 mm
2025-04-29 06:15:27 [debug] Diagnostics for board 50:
2025-04-29 06:15:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:15:27 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.8%
Owned mutexes:
Last reset 17:03:18 ago, cause: software
2025-04-29 06:15:27 [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
2025-04-29 06:15:27 [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
2025-04-29 06:15:27 [debug] Moves scheduled 29655, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=582, frequency (Hz): min=534, max=15306
Sync err accum 89, peak jitter 0/1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1243180279 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-29 06:15:27 [debug] Driver 0: pos -9598, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16524, writes 11 timeouts 1
2025-04-29 06:15:27 [debug] Last sensors broadcast 0x00000000 found 0 205 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 78, 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 439, adv 36062/37170
2025-04-29 06:15:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2268
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10347, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:15:27 [info] currentZPosition:0.0150
2025-04-29 06:15:28 [debug] Stopped at height 0.013 mm
2025-04-29 06:15:28 [debug] Diagnostics for board 50:
2025-04-29 06:15:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:15:28 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:03:19 ago, cause: software
2025-04-29 06:15:28 [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
2025-04-29 06:15:28 [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
2025-04-29 06:15:28 [debug] Moves scheduled 29659, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=500, frequency (Hz): min=491, max=15306
Sync err accum 87, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1242117341 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:15:28 [debug] Driver 0: pos -9617, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16815, writes 11 timeouts 1
2025-04-29 06:15:28 [debug] Last sensors broadcast 0x00000000 found 0 124 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 88, 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 435, adv 36012/37171
2025-04-29 06:15:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10420, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:15:28 [info] currentZPosition:0.0131
2025-04-29 06:15:29 [debug] Stopped at height 0.011 mm
2025-04-29 06:15:29 [debug] Stopped at height 0.010 mm
2025-04-29 06:15:30 [debug] Stopped at height 0.014 mm
2025-04-29 06:15:30 [debug] Diagnostics for board 50:
2025-04-29 06:15:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:15:30 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.1%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:03:21 ago, cause: software
2025-04-29 06:15:30 [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
2025-04-29 06:15:30 [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
2025-04-29 06:15:30 [debug] Moves scheduled 29667, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 350, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=601, frequency (Hz): min=730, max=15306
Sync err accum 82, peak jitter -1/0, peak Rx delay 198, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1240571502 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 06:15:30 [debug] Driver 0: pos -9611, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 24479, writes 11 timeouts 1
2025-04-29 06:15:30 [debug] Last sensors broadcast 0x00000000 found 0 184 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 132, send timeouts 0, received 35, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 513, adv 36001/37133
2025-04-29 06:15:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10446, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:15:30 [info] currentZPosition:0.0137
2025-04-29 06:15:31 [debug] Stopped at height 0.012 mm
2025-04-29 06:15:32 [debug] Stopped at height 0.014 mm
2025-04-29 06:15:32 [debug] Diagnostics for board 50:
2025-04-29 06:15:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:15:32 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.2%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:03:23 ago, cause: software
2025-04-29 06:15:32 [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
2025-04-29 06:15:32 [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
2025-04-29 06:15:32 [debug] Moves scheduled 29673, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 458, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=484, frequency (Hz): min=1543, max=15306
Sync err accum 70, peak jitter -2/-1, peak Rx delay 211, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 1239311134 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 06:15:32 [debug] Driver 0: pos -9610, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 19948, writes 0 timeouts 0
2025-04-29 06:15:32 [debug] Last sensors broadcast 0x00000000 found 0 116 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 112, 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 651, adv 36120/37118
2025-04-29 06:15:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10449, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:15:32 [info] currentZPosition:0.0138
2025-04-29 06:15:32 [debug] Stopped at height 0.012 mm
2025-04-29 06:15:34 [debug] Stopped at height 0.013 mm
2025-04-29 06:15:34 [debug] Diagnostics for board 50:
2025-04-29 06:15:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:15:34 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.1%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:03:25 ago, cause: software
2025-04-29 06:15:34 [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
2025-04-29 06:15:34 [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
2025-04-29 06:15:34 [debug] Moves scheduled 29679, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 387, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=617, frequency (Hz): min=1371, max=15306
Sync err accum 63, peak jitter -2/1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1237994617 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:15:34 [debug] Driver 0: pos -9620, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20851, writes 0 timeouts 0
2025-04-29 06:15:34 [debug] Last sensors broadcast 0x00000000 found 0 121 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 118, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36004/37101
2025-04-29 06:15:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10469, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:15:34 [info] currentZPosition:0.0128
2025-04-29 06:15:35 [debug] Stopped at height 0.014 mm
2025-04-29 06:15:35 [debug] Diagnostics for board 50:
2025-04-29 06:15:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:15:35 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.0%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:03:26 ago, cause: software
2025-04-29 06:15:35 [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
2025-04-29 06:15:35 [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
2025-04-29 06:15:35 [debug] Moves scheduled 29683, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=765, frequency (Hz): min=1225, max=15306
Sync err accum 73, peak jitter 1/2, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1236995465 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 06:15:35 [debug] Driver 0: pos -9604, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15673, writes 0 timeouts 0
2025-04-29 06:15:35 [debug] Last sensors broadcast 0x00000000 found 0 203 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 80, 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 428, adv 36095/37113
2025-04-29 06:15:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10434, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:15:35 [info] currentZPosition:0.0144
2025-04-29 06:15:35 [debug] Stopped at height 0.011 mm
2025-04-29 06:15:36 [debug] Stopped at height 0.011 mm
2025-04-29 06:15:37 [debug] Stopped at height 0.014 mm
2025-04-29 06:15:37 [debug] Diagnostics for board 50:
2025-04-29 06:15:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:15:37 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.9%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:03:28 ago, cause: software
2025-04-29 06:15:37 [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
2025-04-29 06:15:37 [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
2025-04-29 06:15:37 [debug] Moves scheduled 29691, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 439, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=524, frequency (Hz): min=1404, max=15625
Sync err accum 82, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1235434327 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:15:37 [debug] Driver 0: pos -9610, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 24784, writes 0 timeouts 0
2025-04-29 06:15:37 [debug] Last sensors broadcast 0x00000000 found 0 33 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 130, 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 970, adv 36097/37158
2025-04-29 06:15:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10416, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2279
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:15:37 [info] currentZPosition:0.0138
2025-04-29 06:15:37 [debug] Stopped at height 0.013 mm
2025-04-29 06:15:39 [debug] Stopped at height 0.013 mm
2025-04-29 06:15:39 [debug] Diagnostics for board 50:
2025-04-29 06:15:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:15:39 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.8%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:03:30 ago, cause: software
2025-04-29 06:15:39 [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
2025-04-29 06:15:39 [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
2025-04-29 06:15:39 [debug] Moves scheduled 29697, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=654, frequency (Hz): min=1209, max=15306
Sync err accum 84, peak jitter -1/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 1234156390 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:15:39 [debug] Driver 0: pos -9614, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20307, writes 0 timeouts 0
2025-04-29 06:15:39 [debug] Last sensors broadcast 0x00000000 found 0 240 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 101, 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 407, adv 36116/37141
2025-04-29 06:15:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10438, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:15:39 [info] currentZPosition:0.0134
2025-04-29 06:15:40 [debug] Stopped at height 0.013 mm
2025-04-29 06:15:40 [debug] Diagnostics for board 50:
2025-04-29 06:15:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:15:40 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:03:31 ago, cause: software
2025-04-29 06:15:40 [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
2025-04-29 06:15:40 [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
2025-04-29 06:15:40 [debug] Moves scheduled 29701, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=544, frequency (Hz): min=1423, max=15625
Sync err accum 80, peak jitter -2/0, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1233091820 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max
2025-04-29 06:15:40 [debug] Driver 0: pos -9615, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16767, writes 0 timeouts 0
2025-04-29 06:15:40 [debug] Last sensors broadcast 0x00000000 found 0 158 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 85, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36044/37116
2025-04-29 06:15:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10453, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:15:40 [info] currentZPosition:0.0133
2025-04-29 06:15:41 [debug] Stopped at height 0.014 mm
2025-04-29 06:15:41 [debug] Diagnostics for board 50:
2025-04-29 06:15:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:15:41 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 17:03:33 ago, cause: software
2025-04-29 06:15:41 [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
2025-04-29 06:15:41 [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
2025-04-29 06:15:41 [debug] Moves scheduled 29705, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=653, frequency (Hz): min=1376, max=15306
Sync err accum 71, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1232080531 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max
2025-04-29 06:15:41 [debug] Driver 0: pos -9608, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15925, writes 0 timeouts 0
2025-04-29 06:15:41 [debug] Last sensors broadcast 0x00000000 found 0 7 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 80, 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 519, adv 36117/37129
2025-04-29 06:15:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10435, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:15:42 [info] currentZPosition:0.0140
2025-04-29 06:15:43 [debug] Stopped at height 0.014 mm
2025-04-29 06:15:43 [debug] Diagnostics for board 50:
2025-04-29 06:15:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:15:43 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:03:34 ago, cause: software
2025-04-29 06:15:43 [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
2025-04-29 06:15:43 [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
2025-04-29 06:15:43 [debug] Moves scheduled 29709, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=620, frequency (Hz): min=1325, max=15306
Sync err accum 62, peak jitter -2/-1, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1231012201 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, ma
2025-04-29 06:15:43 [debug] Driver 0: pos -9612, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16813, writes 0 timeouts 0
2025-04-29 06:15:43 [debug] Last sensors broadcast 0x00000000 found 0 183 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 83, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36006/37085
2025-04-29 06:15:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10434, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:15:43 [info] currentZPosition:0.0136
2025-04-29 06:15:44 [debug] Stopped at height 0.014 mm
2025-04-29 06:15:44 [debug] Diagnostics for board 50:
2025-04-29 06:15:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:15:44 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:03:36 ago, cause: software
2025-04-29 06:15:44 [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
2025-04-29 06:15:44 [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
2025-04-29 06:15:44 [debug] Moves scheduled 29713, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=722, frequency (Hz): min=1225, max=15306
Sync err accum 69, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1229980881 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 06:15:44 [debug] Driver 0: pos -9613, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16231, writes 0 timeouts 0
2025-04-29 06:15:44 [debug] Last sensors broadcast 0x00000000 found 0 56 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 85, 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 475, adv 36133/37139
2025-04-29 06:15:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10422, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:15:44 [info] currentZPosition:0.0135
2025-04-29 06:15:46 [debug] Stopped at height 0.014 mm
2025-04-29 06:15:46 [debug] Diagnostics for board 50:
2025-04-29 06:15:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:15:46 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:03:37 ago, cause: software
2025-04-29 06:15:46 [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
2025-04-29 06:15:46 [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
2025-04-29 06:15:46 [debug] Moves scheduled 29717, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=584, frequency (Hz): min=1428, max=15306
Sync err accum 70, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1228929765 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 06:15:46 [debug] Driver 0: pos -9608, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16524, writes 0 timeouts 0
2025-04-29 06:15:46 [debug] Last sensors broadcast 0x00000000 found 0 207 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 79, 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 391, adv 36032/37149
2025-04-29 06:15:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10451, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:15:46 [info] currentZPosition:0.0141
2025-04-29 06:15:47 [debug] Stopped at height 0.014 mm
2025-04-29 06:15:47 [debug] Diagnostics for board 50:
2025-04-29 06:15:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:15:47 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.8%
Owned mutexes:
Last reset 17:03:38 ago, cause: software
2025-04-29 06:15:47 [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
2025-04-29 06:15:47 [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
2025-04-29 06:15:47 [debug] Moves scheduled 29721, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 315, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=545, frequency (Hz): min=1509, max=15306
Sync err accum 72, peak jitter 0/1, peak Rx delay 186, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1227891971 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:15:47 [debug] Driver 0: pos -9615, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16317, writes 0 timeouts 0
2025-04-29 06:15:47 [debug] Last sensors broadcast 0x00000000 found 0 93 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 88, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36112/37145
2025-04-29 06:15:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10418, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:15:47 [info] currentZPosition:0.0135
2025-04-29 06:15:48 [debug] Stopped at height 0.014 mm
2025-04-29 06:15:48 [debug] Diagnostics for board 50:
2025-04-29 06:15:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:15:48 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.7%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:03:40 ago, cause: software
2025-04-29 06:15:48 [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
2025-04-29 06:15:48 [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
2025-04-29 06:15:48 [debug] Moves scheduled 29725, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=629, frequency (Hz): min=1247, max=15306
Sync err accum 67, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 1226835727 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:15:48 [debug] Driver 0: pos -9611, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16633, writes 0 timeouts 0
2025-04-29 06:15:48 [debug] Last sensors broadcast 0x00000000 found 0 1 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 84, 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 362, adv 36060/37143
2025-04-29 06:15:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10400, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:15:49 [info] currentZPosition:0.0139
2025-04-29 06:15:50 [debug] Stopped at height 0.014 mm
2025-04-29 06:15:50 [debug] Diagnostics for board 50:
2025-04-29 06:15:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:15:50 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 17:03:41 ago, cause: software
2025-04-29 06:15:50 [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
2025-04-29 06:15:50 [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
2025-04-29 06:15:50 [debug] Moves scheduled 29729, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 601, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=676, frequency (Hz): min=1141, max=15306
Sync err accum 67, peak jitter -2/2, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1225797205 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:15:50 [debug] Driver 0: pos -9614, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16337, writes 0 timeouts 0
2025-04-29 06:15:50 [debug] Last sensors broadcast 0x00000000 found 0 134 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 85, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36108/37108
2025-04-29 06:15:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2279
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10412, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:15:50 [info] currentZPosition:0.0136
2025-04-29 06:15:51 [debug] Stopped at height 0.014 mm
2025-04-29 06:15:51 [debug] Diagnostics for board 50:
2025-04-29 06:15:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:15:51 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:03:43 ago, cause: software
2025-04-29 06:15:51 [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
2025-04-29 06:15:51 [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
2025-04-29 06:15:51 [debug] Moves scheduled 29733, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=722, frequency (Hz): min=1201, max=15306
Sync err accum 76, peak jitter 0/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 1224736877 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:15:51 [debug] Driver 0: pos -9612, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16747, writes 0 timeouts 0
2025-04-29 06:15:51 [debug] Last sensors broadcast 0x00000000 found 0 48 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 85, 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 413, adv 36053/37140
2025-04-29 06:15:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10451, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4696, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:15:51 [info] currentZPosition:0.0138
2025-04-29 06:15:53 [debug] Stopped at height 0.014 mm
2025-04-29 06:15:53 [debug] Diagnostics for board 50:
2025-04-29 06:15:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:15:53 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:03:44 ago, cause: software
2025-04-29 06:15:53 [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
2025-04-29 06:15:53 [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
2025-04-29 06:15:53 [debug] Moves scheduled 29737, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=584, frequency (Hz): min=1383, max=15306
Sync err accum 79, peak jitter 0/1, peak Rx delay 187, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 1223714510 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:15:53 [debug] Driver 0: pos -9610, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16122, writes 0 timeouts 0
2025-04-29 06:15:53 [debug] Last sensors broadcast 0x00000000 found 0 160 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 81, 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 381, adv 35966/37124
2025-04-29 06:15:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10398, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:15:53 [info] currentZPosition:0.0140
2025-04-29 06:15:54 [debug] Stopped at height 0.013 mm
2025-04-29 06:15:54 [debug] Diagnostics for board 50:
2025-04-29 06:15:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:15:54 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:03:45 ago, cause: software
2025-04-29 06:15:54 [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
2025-04-29 06:15:54 [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
2025-04-29 06:15:54 [debug] Moves scheduled 29741, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=736, frequency (Hz): min=1237, max=15306
Sync err accum 80, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1222641962 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:15:54 [debug] Driver 0: pos -9617, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16976, writes 0 timeouts 0
2025-04-29 06:15:54 [debug] Last sensors broadcast 0x00000000 found 0 92 ticks ago, 0 ordering errs, loop time 2
CAN messages queued 89, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36006/37121
2025-04-29 06:15:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10418, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:15:54 [info] currentZPosition:0.0133
2025-04-29 06:15:55 [debug] Stopped at height 0.013 mm
2025-04-29 06:15:55 [debug] Diagnostics for board 50:
2025-04-29 06:15:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:15:55 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.7%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:03:47 ago, cause: software
2025-04-29 06:15:55 [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
2025-04-29 06:15:55 [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
2025-04-29 06:15:55 [debug] Moves scheduled 29745, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=734, frequency (Hz): min=1186, max=15306
Sync err accum 78, peak jitter -1/0, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1221598392 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:15:55 [debug] Driver 0: pos -9625, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16412, writes 0 timeouts 0
2025-04-29 06:15:55 [debug] Last sensors broadcast 0x00000000 found 0 234 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 96, 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 381, adv 36268/37124
2025-04-29 06:15:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2282
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10486, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2279
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:15:56 [info] currentZPosition:0.0126
2025-04-29 06:15:57 [debug] Stopped at height 0.015 mm
2025-04-29 06:15:57 [debug] Diagnostics for board 50:
2025-04-29 06:15:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:15:57 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:03:48 ago, cause: software
2025-04-29 06:15:57 [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
2025-04-29 06:15:57 [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
2025-04-29 06:15:57 [debug] Moves scheduled 29749, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=613, frequency (Hz): min=828, max=17857
Sync err accum 72, peak jitter -2/0, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1220568261 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:15:57 [debug] Driver 0: pos -9605, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16219, writes 11 timeouts 1
2025-04-29 06:15:57 [debug] Last sensors broadcast 0x00000000 found 0 105 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 82, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36028/37086
2025-04-29 06:15:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10410, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:15:57 [info] currentZPosition:0.0146
2025-04-29 06:15:57 [debug] Stopped at height 0.014 mm
2025-04-29 06:15:59 [debug] Stopped at height 0.014 mm
2025-04-29 06:15:59 [debug] Diagnostics for board 50:
2025-04-29 06:15:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:15:59 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.7%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:03:50 ago, cause: software
2025-04-29 06:15:59 [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
2025-04-29 06:15:59 [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
2025-04-29 06:15:59 [debug] Moves scheduled 29755, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=588, frequency (Hz): min=1346, max=15306
Sync err accum 63, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1219278921 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max
2025-04-29 06:15:59 [debug] Driver 0: pos -9613, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20513, writes 0 timeouts 0
2025-04-29 06:15:59 [debug] Last sensors broadcast 0x00000000 found 0 77 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 95, 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 369, adv 36344/37122
2025-04-29 06:15:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10432, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2279
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:15:59 [info] currentZPosition:0.0138
2025-04-29 06:16:00 [debug] Stopped at height 0.014 mm
2025-04-29 06:16:00 [debug] Diagnostics for board 50:
2025-04-29 06:16:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:16:00 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.7%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:03:51 ago, cause: software
2025-04-29 06:16:00 [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
2025-04-29 06:16:00 [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
2025-04-29 06:16:00 [debug] Moves scheduled 29759, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 563, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=625, frequency (Hz): min=1399, max=15625
Sync err accum 69, peak jitter 0/2, peak Rx delay 185, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1218212143 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:16:00 [debug] Driver 0: pos -9615, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16782, writes 0 timeouts 0
2025-04-29 06:16:00 [debug] Last sensors broadcast 0x00000000 found 0 249 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 89, 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 514, adv 36052/37058
2025-04-29 06:16:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10457, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:16:00 [info] currentZPosition:0.0136
2025-04-29 06:16:01 [debug] Stopped at height 0.014 mm
2025-04-29 06:16:01 [debug] Diagnostics for board 50:
2025-04-29 06:16:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:16:01 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:03:53 ago, cause: software
2025-04-29 06:16:01 [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
2025-04-29 06:16:01 [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
2025-04-29 06:16:01 [debug] Moves scheduled 29763, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=752, frequency (Hz): min=1150, max=15306
Sync err accum 73, peak jitter 0/1, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1217191820 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:16:01 [debug] Driver 0: pos -9609, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16056, writes 0 timeouts 0
2025-04-29 06:16:01 [debug] Last sensors broadcast 0x00000000 found 0 108 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 80, 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 376, adv 36370/37170
2025-04-29 06:16:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10410, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:16:01 [info] currentZPosition:0.0142
2025-04-29 06:16:03 [debug] Stopped at height 0.014 mm
2025-04-29 06:16:03 [debug] Diagnostics for board 50:
2025-04-29 06:16:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:16:03 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:03:54 ago, cause: software
2025-04-29 06:16:03 [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
2025-04-29 06:16:03 [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
2025-04-29 06:16:03 [debug] Moves scheduled 29767, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=593, frequency (Hz): min=553, max=15306
Sync err accum 71, peak jitter -1/1, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1216125801 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:16:03 [debug] Driver 0: pos -9612, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16801, writes 11 timeouts 1
2025-04-29 06:16:03 [debug] Last sensors broadcast 0x00000000 found 0 30 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 87, 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 385, adv 36059/37078
2025-04-29 06:16:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10428, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2279
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:16:03 [info] currentZPosition:0.0139
2025-04-29 06:16:04 [debug] Stopped at height 0.014 mm
2025-04-29 06:16:04 [debug] Diagnostics for board 50:
2025-04-29 06:16:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:16:04 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:03:55 ago, cause: software
2025-04-29 06:16:04 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:16:04 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:16:04 [debug] Moves scheduled 29771, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 450, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=669, frequency (Hz): min=632, max=15306
Sync err accum 63, peak jitter -2/-1, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1215097640 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:16:04 [debug] Driver 0: pos -9610, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16198, writes 11 timeouts 1
2025-04-29 06:16:04 [debug] Last sensors broadcast 0x00000000 found 0 152 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 81, 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 408, adv 36365/37076
2025-04-29 06:16:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10425, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:16:04 [info] currentZPosition:0.0141
2025-04-29 06:16:06 [debug] Stopped at height 0.014 mm
2025-04-29 06:16:06 [debug] Diagnostics for board 50:
2025-04-29 06:16:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:16:06 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:03:57 ago, cause: software
2025-04-29 06:16:06 [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
2025-04-29 06:16:06 [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
2025-04-29 06:16:06 [debug] Moves scheduled 29775, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 310, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=574, frequency (Hz): min=678, max=15306
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 1214022469 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, curr
2025-04-29 06:16:06 [debug] Driver 0: pos -9616, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16874, writes 22 timeouts 2
2025-04-29 06:16:06 [debug] Last sensors broadcast 0x00000000 found 0 85 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 87, 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 381, adv 36034/37123
2025-04-29 06:16:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10464, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:16:06 [info] currentZPosition:0.0136
2025-04-29 06:16:07 [debug] Stopped at height 0.014 mm
2025-04-29 06:16:07 [debug] Diagnostics for board 50:
2025-04-29 06:16:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:16:07 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.7%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:03:58 ago, cause: software
2025-04-29 06:16:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:16:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:16:07 [debug] Moves scheduled 29779, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 454, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=624, frequency (Hz): min=1311, max=15306
Sync err accum 74, peak jitter 0/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1212988454 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 06:16:07 [debug] Driver 0: pos -9617, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16262, writes 0 timeouts 0
2025-04-29 06:16:07 [debug] Last sensors broadcast 0x00000000 found 0 212 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 85, 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 431, adv 36310/37101
2025-04-29 06:16:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10442, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2279
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:16:07 [info] currentZPosition:0.0135
2025-04-29 06:16:08 [debug] Stopped at height 0.014 mm
2025-04-29 06:16:08 [debug] Diagnostics for board 50:
2025-04-29 06:16:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:16:08 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:04:00 ago, cause: software
2025-04-29 06:16:08 [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
2025-04-29 06:16:08 [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
2025-04-29 06:16:08 [debug] Moves scheduled 29783, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 304, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=458, frequency (Hz): min=547, max=15000
Sync err accum 77, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1211935765 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, curr
2025-04-29 06:16:08 [debug] Driver 0: pos -9610, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16591, writes 11 timeouts 1
2025-04-29 06:16:08 [debug] Last sensors broadcast 0x00000000 found 0 118 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 87, send timeouts 0, received 22, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 36059/37098
2025-04-29 06:16:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10419, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2279
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:16:08 [info] currentZPosition:0.0142
2025-04-29 06:16:10 [debug] Stopped at height 0.014 mm
2025-04-29 06:16:10 [debug] Diagnostics for board 50:
2025-04-29 06:16:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:16:10 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:04:01 ago, cause: software
2025-04-29 06:16:10 [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
2025-04-29 06:16:10 [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
2025-04-29 06:16:10 [debug] Moves scheduled 29787, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=438, frequency (Hz): min=1732, max=15306
Sync err accum 76, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1210902732 ticks, 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
2025-04-29 06:16:10 [debug] Driver 0: pos -9611, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16309, writes 0 timeouts 0
2025-04-29 06:16:10 [debug] Last sensors broadcast 0x00000000 found 0 243 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 81, 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 366, adv 36389/37108
2025-04-29 06:16:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10440, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:16:10 [info] currentZPosition:0.0141
2025-04-29 06:16:11 [debug] Stopped at height 0.013 mm
2025-04-29 06:16:11 [debug] Diagnostics for board 50:
2025-04-29 06:16:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:16:11 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:04:02 ago, cause: software
2025-04-29 06:16:11 [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
2025-04-29 06:16:11 [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
2025-04-29 06:16:11 [debug] Moves scheduled 29791, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 327, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=650, frequency (Hz): min=1273, max=15306
Sync err accum 72, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1209821805 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:16:11 [debug] Driver 0: pos -9619, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17055, writes 0 timeouts 0
2025-04-29 06:16:11 [debug] Last sensors broadcast 0x00000000 found 0 186 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 97, 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 377, adv 36017/37122
2025-04-29 06:16:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10432, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:16:11 [info] currentZPosition:0.0133
2025-04-29 06:16:13 [debug] Stopped at height 0.012 mm
2025-04-29 06:16:13 [debug] Diagnostics for board 50:
2025-04-29 06:16:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:16:13 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.0%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.6%
Owned mutexes:
Last reset 17:04:04 ago, cause: software
2025-04-29 06:16:13 [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
2025-04-29 06:16:13 [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
2025-04-29 06:16:13 [debug] Moves scheduled 29795, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 309, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=666, frequency (Hz): min=585, max=15625
Sync err accum 63, peak jitter -2/-1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1208774891 ticks, 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
2025-04-29 06:16:13 [debug] Driver 0: pos -9631, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16350, writes 22 timeouts 2
2025-04-29 06:16:13 [debug] Last sensors broadcast 0x00000000 found 0 84 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 103, send timeouts 0, received 22, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36307/37125
2025-04-29 06:16:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2281
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10515, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:16:13 [info] currentZPosition:0.0121
2025-04-29 06:16:14 [debug] Stopped at height 0.014 mm
2025-04-29 06:16:14 [debug] Diagnostics for board 50:
2025-04-29 06:16:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:16:14 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.9%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.4%
Owned mutexes:
Last reset 17:04:05 ago, cause: software
2025-04-29 06:16:14 [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
2025-04-29 06:16:14 [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
2025-04-29 06:16:14 [debug] Moves scheduled 29799, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 576, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=561, frequency (Hz): min=868, max=15625
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 1207750034 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:16:14 [debug] Driver 0: pos -9608, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16088, writes 0 timeouts 0
2025-04-29 06:16:14 [debug] Last sensors broadcast 0x00000000 found 0 197 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 80, 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 495, adv 36057/37104
2025-04-29 06:16:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10399, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:16:14 [info] currentZPosition:0.0144
2025-04-29 06:16:14 [debug] Stopped at height 0.012 mm
2025-04-29 06:16:16 [debug] Stopped at height 0.014 mm
2025-04-29 06:16:16 [debug] Diagnostics for board 50:
2025-04-29 06:16:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:16:16 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:04:07 ago, cause: software
2025-04-29 06:16:16 [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
2025-04-29 06:16:16 [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
2025-04-29 06:16:16 [debug] Moves scheduled 29805, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 164, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=528, frequency (Hz): min=1415, max=15625
Sync err accum 82, peak jitter 1/3, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1206471666 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:16:16 [debug] Driver 0: pos -9615, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20182, writes 0 timeouts 0
2025-04-29 06:16:16 [debug] Last sensors broadcast 0x00000000 found 0 151 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 108, 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 495, adv 36342/37128
2025-04-29 06:16:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10467, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:16:16 [info] currentZPosition:0.0137
2025-04-29 06:16:16 [debug] Stopped at height 0.013 mm
2025-04-29 06:16:17 [debug] Stopped at height 0.013 mm
2025-04-29 06:16:17 [debug] Diagnostics for board 50:
2025-04-29 06:16:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:16:17 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.1%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:04:09 ago, cause: software
2025-04-29 06:16:17 [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
2025-04-29 06:16:17 [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
2025-04-29 06:16:17 [debug] Moves scheduled 29811, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=548, frequency (Hz): min=1704, max=15306
Sync err accum 92, peak jitter 0/3, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1205163624 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:16:17 [debug] Driver 0: pos -9620, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20713, writes 0 timeouts 0
2025-04-29 06:16:17 [debug] Last sensors broadcast 0x00000000 found 0 144 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 111, 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 404, adv 36022/37131
2025-04-29 06:16:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10446, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2279
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:16:17 [info] currentZPosition:0.0132
2025-04-29 06:16:19 [debug] Stopped at height 0.013 mm
2025-04-29 06:16:19 [debug] Diagnostics for board 50:
2025-04-29 06:16:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:16:19 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:04:10 ago, cause: software
2025-04-29 06:16:19 [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
2025-04-29 06:16:19 [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
2025-04-29 06:16:19 [debug] Moves scheduled 29815, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=514, frequency (Hz): min=1648, max=15306
Sync err accum 95, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1204131366 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:16:19 [debug] Driver 0: pos -9620, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16303, writes 0 timeouts 0
2025-04-29 06:16:19 [debug] Last sensors broadcast 0x00000000 found 0 22 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 95, 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 420, adv 36334/37112
2025-04-29 06:16:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2279
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10439, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:16:19 [info] currentZPosition:0.0132
2025-04-29 06:16:20 [debug] Stopped at height 0.015 mm
2025-04-29 06:16:20 [debug] Diagnostics for board 50:
2025-04-29 06:16:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:16:20 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.2%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:04:11 ago, cause: software
2025-04-29 06:16:20 [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
2025-04-29 06:16:20 [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
2025-04-29 06:16:20 [debug] Moves scheduled 29819, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=560, frequency (Hz): min=1512, max=15306
Sync err accum 95, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 1203105330 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:16:20 [debug] Driver 0: pos -9602, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16233, writes 0 timeouts 0
2025-04-29 06:16:20 [debug] Last sensors broadcast 0x00000000 found 0 139 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 79, 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 379, adv 36024/37120
2025-04-29 06:16:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10384, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:16:20 [info] currentZPosition:0.0150
2025-04-29 06:16:21 [debug] Stopped at height 0.014 mm
2025-04-29 06:16:22 [debug] Stopped at height 0.015 mm
2025-04-29 06:16:22 [debug] Diagnostics for board 50:
2025-04-29 06:16:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:16:22 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.3%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:04:13 ago, cause: software
2025-04-29 06:16:22 [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
2025-04-29 06:16:22 [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
2025-04-29 06:16:22 [debug] Moves scheduled 29825, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=558, frequency (Hz): min=1509, max=15306
Sync err accum 89, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1201832469 ticks, 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
2025-04-29 06:16:22 [debug] Driver 0: pos -9607, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20335, writes 0 timeouts 0
2025-04-29 06:16:22 [debug] Last sensors broadcast 0x00000000 found 0 85 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 89, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36352/37125
2025-04-29 06:16:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10395, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:16:22 [info] currentZPosition:0.0145
2025-04-29 06:16:23 [debug] Stopped at height 0.014 mm
2025-04-29 06:16:23 [debug] Diagnostics for board 50:
2025-04-29 06:16:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:16:23 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.2%
Owned mutexes:
Last reset 17:04:15 ago, cause: software
2025-04-29 06:16:23 [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
2025-04-29 06:16:23 [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
2025-04-29 06:16:23 [debug] Moves scheduled 29829, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 368, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=744, frequency (Hz): min=603, max=15306
Sync err accum 82, peak jitter -2/0, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1200758871 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:16:23 [debug] Driver 0: pos -9612, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16988, writes 11 timeouts 1
2025-04-29 06:16:23 [debug] Last sensors broadcast 0x00000000 found 0 21 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 89, 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 378, adv 36013/37093
2025-04-29 06:16:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10418, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:16:23 [info] currentZPosition:0.0140
2025-04-29 06:16:25 [debug] Stopped at height 0.014 mm
2025-04-29 06:16:25 [debug] Diagnostics for board 50:
2025-04-29 06:16:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:16:25 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:04:16 ago, cause: software
2025-04-29 06:16:25 [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
2025-04-29 06:16:25 [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
2025-04-29 06:16:25 [debug] Moves scheduled 29833, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=780, frequency (Hz): min=1194, max=15306
Sync err accum 69, peak jitter -3/-1, peak Rx delay 186, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1199731330 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, ma
2025-04-29 06:16:25 [debug] Driver 0: pos -9609, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16147, writes 0 timeouts 0
2025-04-29 06:16:25 [debug] Last sensors broadcast 0x00000000 found 0 139 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 83, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36311/37130
2025-04-29 06:16:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10446, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:16:25 [info] currentZPosition:0.0143
2025-04-29 06:16:26 [debug] Stopped at height 0.014 mm
2025-04-29 06:16:26 [debug] Diagnostics for board 50:
2025-04-29 06:16:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:16:26 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 17:04:17 ago, cause: software
2025-04-29 06:16:26 [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
2025-04-29 06:16:26 [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
2025-04-29 06:16:26 [debug] Moves scheduled 29837, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=613, frequency (Hz): min=1239, max=15625
Sync err accum 63, peak jitter -2/2, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1198666997 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:16:26 [debug] Driver 0: pos -9610, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16780, writes 0 timeouts 0
2025-04-29 06:16:26 [debug] Last sensors broadcast 0x00000000 found 0 57 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 84, send timeouts 0, received 22, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36012/37110
2025-04-29 06:16:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2279
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10415, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:16:26 [info] currentZPosition:0.0142
2025-04-29 06:16:27 [debug] Stopped at height 0.014 mm
2025-04-29 06:16:27 [debug] Diagnostics for board 50:
2025-04-29 06:16:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:16:27 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:04:19 ago, cause: software
2025-04-29 06:16:27 [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
2025-04-29 06:16:27 [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
2025-04-29 06:16:27 [debug] Moves scheduled 29841, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=680, frequency (Hz): min=1346, max=15306
Sync err accum 77, peak jitter 2/3, peak Rx delay 184, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1197633477 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:16:27 [debug] Driver 0: pos -9612, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16268, writes 0 timeouts 0
2025-04-29 06:16:27 [debug] Last sensors broadcast 0x00000000 found 0 186 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 82, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 36319/37123
2025-04-29 06:16:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10453, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:16:27 [info] currentZPosition:0.0140
2025-04-29 06:16:29 [debug] Stopped at height 0.014 mm
2025-04-29 06:16:29 [debug] Diagnostics for board 50:
2025-04-29 06:16:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:16:29 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 17:04:20 ago, cause: software
2025-04-29 06:16:29 [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
2025-04-29 06:16:29 [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
2025-04-29 06:16:29 [debug] Moves scheduled 29845, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=702, frequency (Hz): min=1173, max=15306
Sync err accum 84, peak jitter 0/2, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1196568261 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:16:29 [debug] Driver 0: pos -9613, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16817, writes 0 timeouts 0
2025-04-29 06:16:29 [debug] Last sensors broadcast 0x00000000 found 0 106 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 84, send timeouts 0, received 22, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36007/37112
2025-04-29 06:16:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10418, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:16:29 [info] currentZPosition:0.0139
2025-04-29 06:16:30 [debug] Stopped at height 0.014 mm
2025-04-29 06:16:30 [debug] Diagnostics for board 50:
2025-04-29 06:16:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:16:30 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:04:21 ago, cause: software
2025-04-29 06:16:30 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:16:30 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:16:30 [debug] Moves scheduled 29849, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=712, frequency (Hz): min=1066, max=15306
Sync err accum 91, peak jitter 1/2, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1195546583 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:16:30 [debug] Driver 0: pos -9608, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16166, writes 0 timeouts 0
2025-04-29 06:16:30 [debug] Last sensors broadcast 0x00000000 found 0 218 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 79, 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 385, adv 36338/37105
2025-04-29 06:16:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10417, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:16:30 [info] currentZPosition:0.0144
2025-04-29 06:16:32 [debug] Stopped at height 0.015 mm
2025-04-29 06:16:32 [debug] Diagnostics for board 50:
2025-04-29 06:16:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:16:32 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:04:23 ago, cause: software
2025-04-29 06:16:32 [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
2025-04-29 06:16:32 [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
2025-04-29 06:16:32 [debug] Moves scheduled 29853, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=498, frequency (Hz): min=1605, max=15306
Sync err accum 95, peak jitter 0/2, peak Rx delay 195, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1194485569 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:16:32 [debug] Driver 0: pos -9607, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16803, writes 0 timeouts 0
2025-04-29 06:16:32 [debug] Last sensors broadcast 0x00000000 found 0 132 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 80, 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 366, adv 36060/37132
2025-04-29 06:16:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10425, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:16:32 [info] currentZPosition:0.0145
2025-04-29 06:16:33 [debug] Stopped at height 0.014 mm
2025-04-29 06:16:33 [debug] Diagnostics for board 50:
2025-04-29 06:16:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:16:33 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:04:24 ago, cause: software
2025-04-29 06:16:33 [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
2025-04-29 06:16:33 [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
2025-04-29 06:16:33 [debug] Moves scheduled 29857, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=649, frequency (Hz): min=1439, max=15306
Sync err accum 96, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1193442668 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:16:33 [debug] Driver 0: pos -9615, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16484, writes 0 timeouts 0
2025-04-29 06:16:33 [debug] Last sensors broadcast 0x00000000 found 0 23 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 84, 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 321, adv 36400/37169
2025-04-29 06:16:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10409, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:16:33 [info] currentZPosition:0.0137
2025-04-29 06:16:34 [debug] Stopped at height 0.014 mm
2025-04-29 06:16:34 [debug] Diagnostics for board 50:
2025-04-29 06:16:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:16:34 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:04:26 ago, cause: software
2025-04-29 06:16:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:16:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:16:34 [debug] Moves scheduled 29861, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=561, frequency (Hz): min=1509, max=15306
Sync err accum 95, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1192372826 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:16:34 [debug] Driver 0: pos -9617, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16849, writes 0 timeouts 0
2025-04-29 06:16:34 [debug] Last sensors broadcast 0x00000000 found 0 201 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 87, 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 517, adv 35897/37078
2025-04-29 06:16:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10441, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:16:34 [info] currentZPosition:0.0135
2025-04-29 06:16:36 [debug] Stopped at height 0.013 mm
2025-04-29 06:16:36 [debug] Diagnostics for board 50:
2025-04-29 06:16:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:16:36 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.8%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:04:27 ago, cause: software
2025-04-29 06:16:36 [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
2025-04-29 06:16:36 [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
2025-04-29 06:16:36 [debug] Moves scheduled 29865, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=569, frequency (Hz): min=1527, max=15306
Sync err accum 85, peak jitter -2/-1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1191334481 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 06:16:36 [debug] Driver 0: pos -9622, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16310, writes 0 timeouts 0
2025-04-29 06:16:36 [debug] Last sensors broadcast 0x00000000 found 0 84 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 93, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36332/37160
2025-04-29 06:16:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10489, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:16:36 [info] currentZPosition:0.0130
2025-04-29 06:16:37 [debug] Stopped at height 0.014 mm
2025-04-29 06:16:37 [debug] Diagnostics for board 50:
2025-04-29 06:16:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:16:37 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:04:28 ago, cause: software
2025-04-29 06:16:37 [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
2025-04-29 06:16:37 [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
2025-04-29 06:16:37 [debug] Moves scheduled 29869, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=508, frequency (Hz): min=1503, max=15306
Sync err accum 74, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1190285651 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, ma
2025-04-29 06:16:37 [debug] Driver 0: pos -9613, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16513, writes 0 timeouts 0
2025-04-29 06:16:37 [debug] Last sensors broadcast 0x00000000 found 0 233 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 85, 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 377, adv 36017/37101
2025-04-29 06:16:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10419, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2279
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:16:37 [info] currentZPosition:0.0139
2025-04-29 06:16:39 [debug] Stopped at height 0.015 mm
2025-04-29 06:16:39 [debug] Diagnostics for board 50:
2025-04-29 06:16:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:16:39 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:04:30 ago, cause: software
2025-04-29 06:16:39 [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
2025-04-29 06:16:39 [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
2025-04-29 06:16:39 [debug] Moves scheduled 29873, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=684, frequency (Hz): min=859, max=15000
Sync err accum 62, peak jitter -3/-1, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1189268591 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:16:39 [debug] Driver 0: pos -9605, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15989, writes 11 timeouts 1
2025-04-29 06:16:39 [debug] Last sensors broadcast 0x00000000 found 0 89 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 80, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 339, adv 36329/37159
2025-04-29 06:16:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10429, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:16:39 [info] currentZPosition:0.0147
2025-04-29 06:16:40 [debug] Stopped at height 0.013 mm
2025-04-29 06:16:40 [debug] Diagnostics for board 50:
2025-04-29 06:16:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:16:40 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:04:31 ago, cause: software
2025-04-29 06:16:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:16:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:16:40 [debug] Moves scheduled 29877, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 280, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=524, frequency (Hz): min=880, max=15306
Sync err accum 69, peak jitter -2/3, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1188182197 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 06:16:40 [debug] Driver 0: pos -9618, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17169, writes 11 timeouts 1
2025-04-29 06:16:40 [debug] Last sensors broadcast 0x00000000 found 0 38 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 91, send timeouts 0, received 22, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 394, adv 36076/37123
2025-04-29 06:16:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10476, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:16:40 [info] currentZPosition:0.0134
2025-04-29 06:16:40 [debug] Stopped at height 0.014 mm
2025-04-29 06:16:42 [debug] Stopped at height 0.014 mm
2025-04-29 06:16:42 [debug] Diagnostics for board 50:
2025-04-29 06:16:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:16:42 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.7%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:04:33 ago, cause: software
2025-04-29 06:16:42 [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
2025-04-29 06:16:42 [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
2025-04-29 06:16:42 [debug] Moves scheduled 29883, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=544, frequency (Hz): min=1491, max=15625
Sync err accum 80, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 1 ticks, disabled, CC0 mismatch!!, next step interrupt due in 1186938123 ticks, 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
2025-04-29 06:16:42 [debug] Driver 0: pos -9608, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 19801, writes 0 timeouts 0
2025-04-29 06:16:42 [debug] Last sensors broadcast 0x00000000 found 0 195 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 89, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36335/37111
2025-04-29 06:16:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10444, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:16:42 [info] currentZPosition:0.0144
2025-04-29 06:16:43 [debug] Stopped at height 0.014 mm
2025-04-29 06:16:43 [debug] Diagnostics for board 50:
2025-04-29 06:16:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:16:43 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.2%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:04:34 ago, cause: software
2025-04-29 06:16:43 [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
2025-04-29 06:16:43 [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
2025-04-29 06:16:43 [debug] Moves scheduled 29887, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 464, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=566, frequency (Hz): min=1211, max=15625
Sync err accum 86, peak jitter 0/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 1185875678 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:16:43 [debug] Driver 0: pos -9610, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16828, writes 0 timeouts 0
2025-04-29 06:16:43 [debug] Last sensors broadcast 0x00000000 found 0 113 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 81, 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 447, adv 36058/37108
2025-04-29 06:16:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10446, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:16:43 [info] currentZPosition:0.0142
2025-04-29 06:16:44 [debug] Stopped at height 0.014 mm
2025-04-29 06:16:44 [debug] Diagnostics for board 50:
2025-04-29 06:16:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:16:44 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:04:36 ago, cause: software
2025-04-29 06:16:44 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:16:44 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:16:44 [debug] Moves scheduled 29891, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 215, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=830, frequency (Hz): min=1093, max=15306
Sync err accum 88, peak jitter -1/1, peak Rx delay 192, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1184842961 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:16:44 [debug] Driver 0: pos -9610, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16231, writes 0 timeouts 0
2025-04-29 06:16:44 [debug] Last sensors broadcast 0x00000000 found 0 240 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 84, 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 567, adv 36303/37113
2025-04-29 06:16:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10404, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:16:45 [info] currentZPosition:0.0142
2025-04-29 06:16:46 [debug] Stopped at height 0.014 mm
2025-04-29 06:16:46 [debug] Diagnostics for board 50:
2025-04-29 06:16:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:16:46 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:04:37 ago, cause: software
2025-04-29 06:16:46 [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
2025-04-29 06:16:46 [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
2025-04-29 06:16:46 [debug] Moves scheduled 29895, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=508, frequency (Hz): min=560, max=15306
Sync err accum 88, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1183771286 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 06:16:46 [debug] Driver 0: pos -9616, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16891, writes 11 timeouts 1
2025-04-29 06:16:46 [debug] Last sensors broadcast 0x00000000 found 0 171 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 86, 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 360, adv 36034/37133
2025-04-29 06:16:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10427, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4697, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:16:46 [info] currentZPosition:0.0136
2025-04-29 06:16:47 [debug] Stopped at height 0.014 mm
2025-04-29 06:16:47 [debug] Diagnostics for board 50:
2025-04-29 06:16:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:16:47 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:04:39 ago, cause: software
2025-04-29 06:16:47 [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
2025-04-29 06:16:47 [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
2025-04-29 06:16:47 [debug] Moves scheduled 29899, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 356, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=648, frequency (Hz): min=1353, max=15306
Sync err accum 84, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1182738918 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max
2025-04-29 06:16:47 [debug] Driver 0: pos -9613, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16213, writes 0 timeouts 0
2025-04-29 06:16:47 [debug] Last sensors broadcast 0x00000000 found 0 45 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 87, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36355/37124
2025-04-29 06:16:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10416, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:16:47 [info] currentZPosition:0.0139
2025-04-29 06:16:49 [debug] Stopped at height 0.013 mm
2025-04-29 06:16:49 [debug] Diagnostics for board 50:
2025-04-29 06:16:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:16:49 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.8%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:04:40 ago, cause: software
2025-04-29 06:16:49 [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
2025-04-29 06:16:49 [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
2025-04-29 06:16:49 [debug] Moves scheduled 29903, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=616, frequency (Hz): min=1320, max=15306
Sync err accum 76, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1181665161 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:16:49 [debug] Driver 0: pos -9619, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16862, writes 0 timeouts 0
2025-04-29 06:16:49 [debug] Last sensors broadcast 0x00000000 found 0 226 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 89, 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 366, adv 36082/37128
2025-04-29 06:16:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10423, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:16:49 [info] currentZPosition:0.0134
2025-04-29 06:16:50 [debug] Stopped at height 0.014 mm
2025-04-29 06:16:50 [debug] Diagnostics for board 50:
2025-04-29 06:16:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:16:50 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.7%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:04:41 ago, cause: software
2025-04-29 06:16:50 [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
2025-04-29 06:16:50 [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
2025-04-29 06:16:50 [debug] Moves scheduled 29907, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=736, frequency (Hz): min=582, max=15306
Sync err accum 62, peak jitter -3/-1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1180638949 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:16:50 [debug] Driver 0: pos -9616, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16155, writes 11 timeouts 1
2025-04-29 06:16:50 [debug] Last sensors broadcast 0x00000000 found 0 96 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 85, 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 388, adv 36187/37110
2025-04-29 06:16:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10409, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:16:50 [info] currentZPosition:0.0137
2025-04-29 06:16:51 [debug] Stopped at height 0.014 mm
2025-04-29 06:16:51 [debug] Diagnostics for board 50:
2025-04-29 06:16:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:16:51 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:04:43 ago, cause: software
2025-04-29 06:16:51 [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
2025-04-29 06:16:51 [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
2025-04-29 06:16:51 [debug] Moves scheduled 29911, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=622, frequency (Hz): min=1009, max=15306
Sync err accum 66, peak jitter -1/2, peak Rx delay 171, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1179576111 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:16:51 [debug] Driver 0: pos -9616, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16830, writes 0 timeouts 0
2025-04-29 06:16:51 [debug] Last sensors broadcast 0x00000000 found 0 12 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 84, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 371, adv 36048/37117
2025-04-29 06:16:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10407, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:16:52 [info] currentZPosition:0.0137
2025-04-29 06:16:53 [debug] Stopped at height 0.013 mm
2025-04-29 06:16:53 [debug] Diagnostics for board 50:
2025-04-29 06:16:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:16:53 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:04:44 ago, cause: software
2025-04-29 06:16:53 [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
2025-04-29 06:16:53 [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
2025-04-29 06:16:53 [debug] Moves scheduled 29915, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=673, frequency (Hz): min=645, max=15306
Sync err accum 80, peak jitter 2/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 1178532461 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, curr
2025-04-29 06:16:53 [debug] Driver 0: pos -9624, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16415, writes 11 timeouts 1
2025-04-29 06:16:53 [debug] Last sensors broadcast 0x00000000 found 0 157 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 91, 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 368, adv 36101/37146
2025-04-29 06:16:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10454, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:16:53 [info] currentZPosition:0.0129
2025-04-29 06:16:54 [debug] Stopped at height 0.014 mm
2025-04-29 06:16:54 [debug] Diagnostics for board 50:
2025-04-29 06:16:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:16:54 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.0%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:04:46 ago, cause: software
2025-04-29 06:16:54 [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
2025-04-29 06:16:54 [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
2025-04-29 06:16:54 [debug] Moves scheduled 29919, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 363, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=628, frequency (Hz): min=1447, max=15306
Sync err accum 92, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1177488613 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:16:54 [debug] Driver 0: pos -9612, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16377, writes 0 timeouts 0
2025-04-29 06:16:54 [debug] Last sensors broadcast 0x00000000 found 0 46 ticks ago, 0 ordering errs, loop time 2
CAN messages queued 86, 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 391, adv 36051/37171
2025-04-29 06:16:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2279
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10435, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:16:54 [info] currentZPosition:0.0141
2025-04-29 06:16:56 [debug] Stopped at height 0.014 mm
2025-04-29 06:16:56 [debug] Diagnostics for board 50:
2025-04-29 06:16:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:16:56 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:04:47 ago, cause: software
2025-04-29 06:16:56 [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
2025-04-29 06:16:56 [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
2025-04-29 06:16:56 [debug] Moves scheduled 29923, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=610, frequency (Hz): min=1386, max=15306
Sync err accum 97, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 1176465949 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:16:56 [debug] Driver 0: pos -9609, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16151, writes 0 timeouts 0
2025-04-29 06:16:56 [debug] Last sensors broadcast 0x00000000 found 0 158 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 81, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36080/37116
2025-04-29 06:16:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2280
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10434, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:16:56 [info] currentZPosition:0.0144
2025-04-29 06:16:57 [debug] Stopped at height 0.015 mm
2025-04-29 06:16:57 [debug] Diagnostics for board 50:
2025-04-29 06:16:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:16:57 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:04:48 ago, cause: software
2025-04-29 06:16:57 [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
2025-04-29 06:16:57 [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
2025-04-29 06:16:57 [debug] Moves scheduled 29927, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=748, frequency (Hz): min=1219, max=15306
Sync err accum 99, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1175410839 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:16:57 [debug] Driver 0: pos -9607, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16687, writes 0 timeouts 0
2025-04-29 06:16:57 [debug] Last sensors broadcast 0x00000000 found 0 67 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 80, 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 375, adv 36015/37120
2025-04-29 06:16:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10434, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:16:57 [info] currentZPosition:0.0146
2025-04-29 06:16:58 [debug] Stopped at height 0.015 mm
2025-04-29 06:16:58 [debug] Diagnostics for board 50:
2025-04-29 06:16:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:16:58 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:04:50 ago, cause: software
2025-04-29 06:16:58 [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
2025-04-29 06:16:58 [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
2025-04-29 06:16:58 [debug] Moves scheduled 29931, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=621, frequency (Hz): min=1512, max=15306
Sync err accum 96, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1174385477 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max
2025-04-29 06:16:58 [debug] Driver 0: pos -9607, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16251, writes 0 timeouts 0
2025-04-29 06:16:58 [debug] Last sensors broadcast 0x00000000 found 0 183 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 80, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36085/37107
2025-04-29 06:16:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10436, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:16:58 [info] currentZPosition:0.0146
2025-04-29 06:17:00 [debug] Stopped at height 0.012 mm
2025-04-29 06:17:00 [debug] Diagnostics for board 50:
2025-04-29 06:17:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:17:00 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:04:51 ago, cause: software
2025-04-29 06:17:00 [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
2025-04-29 06:17:00 [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
2025-04-29 06:17:00 [debug] Moves scheduled 29935, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 190, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=524, frequency (Hz): min=1619, max=15306
Sync err accum 93, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1173274494 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:17:00 [debug] Driver 0: pos -9631, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17503, writes 0 timeouts 0
2025-04-29 06:17:00 [debug] Last sensors broadcast 0x00000000 found 0 166 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 106, 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 387, adv 36051/37072
2025-04-29 06:17:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2281
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10525, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4696, no error
Lin: Encoder reverse polarity: no, raw count 2279
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:17:00 [info] currentZPosition:0.0122
2025-04-29 06:17:00 [debug] Stopped at height 0.012 mm
2025-04-29 06:17:02 [debug] Stopped at height 0.014 mm
2025-04-29 06:17:02 [debug] Diagnostics for board 50:
2025-04-29 06:17:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:17:02 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.7%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:04:53 ago, cause: software
2025-04-29 06:17:02 [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
2025-04-29 06:17:02 [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
2025-04-29 06:17:02 [debug] Moves scheduled 29941, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 278, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=648, frequency (Hz): min=1219, max=15306
Sync err accum 82, peak jitter -2/-1, peak Rx delay 187, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1172029388 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 06:17:02 [debug] Driver 0: pos -9617, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 19658, writes 0 timeouts 0
2025-04-29 06:17:02 [debug] Last sensors broadcast 0x00000000 found 0 76 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 97, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 401, adv 36048/37107
2025-04-29 06:17:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10478, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:17:02 [info] currentZPosition:0.0136
2025-04-29 06:17:02 [debug] Stopped at height 0.014 mm
2025-04-29 06:17:03 [debug] Stopped at height 0.014 mm
2025-04-29 06:17:03 [debug] Diagnostics for board 50:
2025-04-29 06:17:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:17:03 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.7%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:04:55 ago, cause: software
2025-04-29 06:17:03 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:17:03 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:17:03 [debug] Moves scheduled 29947, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=650, frequency (Hz): min=1284, max=15306
Sync err accum 67, peak jitter -2/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1170733490 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatu
2025-04-29 06:17:03 [debug] Driver 0: pos -9614, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20622, writes 0 timeouts 0
2025-04-29 06:17:03 [debug] Last sensors broadcast 0x00000000 found 0 52 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 102, 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 483, adv 36016/37108
2025-04-29 06:17:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10417, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:17:03 [info] currentZPosition:0.0139
2025-04-29 06:17:05 [debug] Stopped at height 0.015 mm
2025-04-29 06:17:05 [debug] Diagnostics for board 50:
2025-04-29 06:17:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:17:05 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:04:56 ago, cause: software
2025-04-29 06:17:05 [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
2025-04-29 06:17:05 [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
2025-04-29 06:17:05 [debug] Moves scheduled 29951, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=594, frequency (Hz): min=1194, max=15306
Sync err accum 64, peak jitter -3/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 1169718319 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:17:05 [debug] Driver 0: pos -9608, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15988, writes 0 timeouts 0
2025-04-29 06:17:05 [debug] Last sensors broadcast 0x00000000 found 0 156 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 79, 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 387, adv 36071/37119
2025-04-29 06:17:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10391, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:17:05 [info] currentZPosition:0.0145
2025-04-29 06:17:06 [debug] Stopped at height 0.015 mm
2025-04-29 06:17:06 [debug] Diagnostics for board 50:
2025-04-29 06:17:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:17:06 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:04:57 ago, cause: software
2025-04-29 06:17:06 [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
2025-04-29 06:17:06 [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
2025-04-29 06:17:06 [debug] Moves scheduled 29955, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=664, frequency (Hz): min=951, max=15306
Sync err accum 74, peak jitter 1/3, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1168662982 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-29 06:17:06 [debug] Driver 0: pos -9606, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16678, writes 0 timeouts 0
2025-04-29 06:17:06 [debug] Last sensors broadcast 0x00000000 found 0 64 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 81, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36016/37081
2025-04-29 06:17:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10398, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:17:06 [info] currentZPosition:0.0147
2025-04-29 06:17:07 [debug] Stopped at height 0.015 mm
2025-04-29 06:17:07 [debug] Diagnostics for board 50:
2025-04-29 06:17:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:17:07 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:04:59 ago, cause: software
2025-04-29 06:17:07 [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
2025-04-29 06:17:07 [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
2025-04-29 06:17:07 [debug] Moves scheduled 29959, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 306, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=748, frequency (Hz): min=1250, max=15306
Sync err accum 86, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1167637086 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:17:07 [debug] Driver 0: pos -9606, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16117, writes 0 timeouts 0
2025-04-29 06:17:07 [debug] Last sensors broadcast 0x00000000 found 0 180 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 79, send timeouts 0, received 22, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36088/37107
2025-04-29 06:17:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2269
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10401, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:17:07 [info] currentZPosition:0.0147
2025-04-29 06:17:09 [debug] Stopped at height 0.014 mm
2025-04-29 06:17:09 [debug] Diagnostics for board 50:
2025-04-29 06:17:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:17:09 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.1%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:05:00 ago, cause: software
2025-04-29 06:17:09 [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
2025-04-29 06:17:09 [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
2025-04-29 06:17:09 [debug] Moves scheduled 29963, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 372, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=566, frequency (Hz): min=588, max=15306
Sync err accum 90, peak jitter 0/1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 1166557396 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, curr
2025-04-29 06:17:09 [debug] Driver 0: pos -9615, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17049, writes 11 timeouts 1
2025-04-29 06:17:09 [debug] Last sensors broadcast 0x00000000 found 0 120 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 87, 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 381, adv 36034/37088
2025-04-29 06:17:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10455, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:17:09 [info] currentZPosition:0.0139
2025-04-29 06:17:10 [debug] Stopped at height 0.014 mm
2025-04-29 06:17:10 [debug] Diagnostics for board 50:
2025-04-29 06:17:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:17:10 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:05:01 ago, cause: software
2025-04-29 06:17:10 [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
2025-04-29 06:17:10 [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
2025-04-29 06:17:10 [debug] Moves scheduled 29967, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=649, frequency (Hz): min=1366, max=15306
Sync err accum 90, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 1165534845 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:17:10 [debug] Driver 0: pos -9613, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16145, writes 0 timeouts 0
2025-04-29 06:17:10 [debug] Last sensors broadcast 0x00000000 found 0 234 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 84, 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 435, adv 36059/37103
2025-04-29 06:17:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10438, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:17:10 [info] currentZPosition:0.0141
2025-04-29 06:17:12 [debug] Stopped at height 0.014 mm
2025-04-29 06:17:12 [debug] Diagnostics for board 50:
2025-04-29 06:17:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:17:12 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:05:03 ago, cause: software
2025-04-29 06:17:12 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:17:12 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:17:12 [debug] Moves scheduled 29971, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=510, frequency (Hz): min=900, max=15306
Sync err accum 84, peak jitter -2/0, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 1164476609 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:17:12 [debug] Driver 0: pos -9611, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16739, writes 11 timeouts 1
2025-04-29 06:17:12 [debug] Last sensors broadcast 0x00000000 found 0 145 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 83, send timeouts 0, received 22, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36036/37124
2025-04-29 06:17:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10448, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:17:12 [info] currentZPosition:0.0143
2025-04-29 06:17:13 [debug] Stopped at height 0.014 mm
2025-04-29 06:17:13 [debug] Diagnostics for board 50:
2025-04-29 06:17:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:17:13 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:05:04 ago, cause: software
2025-04-29 06:17:13 [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
2025-04-29 06:17:13 [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
2025-04-29 06:17:13 [debug] Moves scheduled 29975, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 248, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=704, frequency (Hz): min=1308, max=15306
Sync err accum 78, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1163442769 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:17:13 [debug] Driver 0: pos -9615, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16319, writes 0 timeouts 0
2025-04-29 06:17:13 [debug] Last sensors broadcast 0x00000000 found 0 23 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 85, 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 444, adv 36094/37135
2025-04-29 06:17:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10438, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2279
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:17:13 [info] currentZPosition:0.0139
2025-04-29 06:17:14 [debug] Stopped at height 0.014 mm
2025-04-29 06:17:14 [debug] Diagnostics for board 50:
2025-04-29 06:17:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:17:14 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:05:06 ago, cause: software
2025-04-29 06:17:14 [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
2025-04-29 06:17:14 [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
2025-04-29 06:17:14 [debug] Moves scheduled 29979, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 162, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=644, frequency (Hz): min=1401, max=15306
Sync err accum 68, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1162379340 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatu
2025-04-29 06:17:14 [debug] Driver 0: pos -9611, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16795, writes 0 timeouts 0
2025-04-29 06:17:14 [debug] Last sensors broadcast 0x00000000 found 0 193 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 81, 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 414, adv 36046/37089
2025-04-29 06:17:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10422, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4696, no error
Lin: Encoder reverse polarity: no, raw count 2279
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:17:14 [info] currentZPosition:0.0143
2025-04-29 06:17:16 [debug] Stopped at height 0.014 mm
2025-04-29 06:17:16 [debug] Diagnostics for board 50:
2025-04-29 06:17:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:17:16 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:05:07 ago, cause: software
2025-04-29 06:17:16 [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
2025-04-29 06:17:16 [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
2025-04-29 06:17:16 [debug] Moves scheduled 29983, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 381, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=577, frequency (Hz): min=1308, max=15306
Sync err accum 64, peak jitter -2/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 1161346704 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:17:16 [debug] Driver 0: pos -9612, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16266, writes 0 timeouts 0
2025-04-29 06:17:16 [debug] Last sensors broadcast 0x00000000 found 0 69 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 84, 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 375, adv 36071/37121
2025-04-29 06:17:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10434, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4697, no error
Lin: Encoder reverse polarity: no, raw count 2279
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:17:16 [info] currentZPosition:0.0142
2025-04-29 06:17:17 [debug] Stopped at height 0.015 mm
2025-04-29 06:17:17 [debug] Diagnostics for board 50:
2025-04-29 06:17:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:17:17 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:05:08 ago, cause: software
2025-04-29 06:17:17 [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
2025-04-29 06:17:17 [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
2025-04-29 06:17:17 [debug] Moves scheduled 29987, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=549, frequency (Hz): min=1605, max=15306
Sync err accum 73, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1160291310 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:17:17 [debug] Driver 0: pos -9608, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16690, writes 0 timeouts 0
2025-04-29 06:17:17 [debug] Last sensors broadcast 0x00000000 found 0 225 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 81, 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 539, adv 36102/37103
2025-04-29 06:17:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10423, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4696, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:17:17 [info] currentZPosition:0.0146
2025-04-29 06:17:19 [debug] Stopped at height 0.015 mm
2025-04-29 06:17:19 [debug] Diagnostics for board 50:
2025-04-29 06:17:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:17:19 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:05:10 ago, cause: software
2025-04-29 06:17:19 [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
2025-04-29 06:17:19 [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
2025-04-29 06:17:19 [debug] Moves scheduled 29991, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 460, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=570, frequency (Hz): min=1447, max=15306
Sync err accum 76, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1159281851 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:17:19 [debug] Driver 0: pos -9602, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15943, writes 0 timeouts 0
2025-04-29 06:17:19 [debug] Last sensors broadcast 0x00000000 found 0 72 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 80, 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 380, adv 36089/37133
2025-04-29 06:17:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10402, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:17:19 [info] currentZPosition:0.0152
2025-04-29 06:17:20 [debug] Stopped at height 0.014 mm
2025-04-29 06:17:20 [debug] Diagnostics for board 50:
2025-04-29 06:17:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:17:20 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:05:11 ago, cause: software
2025-04-29 06:17:20 [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
2025-04-29 06:17:20 [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
2025-04-29 06:17:20 [debug] Moves scheduled 29995, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 282, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=770, frequency (Hz): min=1126, max=15625
Sync err accum 78, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1158200323 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:17:20 [debug] Driver 0: pos -9611, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17145, writes 0 timeouts 0
2025-04-29 06:17:20 [debug] Last sensors broadcast 0x00000000 found 0 14 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 83, 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 390, adv 36089/37092
2025-04-29 06:17:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10426, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2279
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:17:20 [info] currentZPosition:0.0144
2025-04-29 06:17:21 [debug] Stopped at height 0.015 mm
2025-04-29 06:17:21 [debug] Diagnostics for board 50:
2025-04-29 06:17:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:17:21 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:05:13 ago, cause: software
2025-04-29 06:17:21 [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
2025-04-29 06:17:21 [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
2025-04-29 06:17:21 [debug] Moves scheduled 29999, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=628, frequency (Hz): min=1034, max=15625
Sync err accum 79, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 1157185251 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:17:21 [debug] Driver 0: pos -9605, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15951, writes 0 timeouts 0
2025-04-29 06:17:21 [debug] Last sensors broadcast 0x00000000 found 0 115 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 79, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36099/37110
2025-04-29 06:17:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10393, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:17:21 [info] currentZPosition:0.0151
2025-04-29 06:17:23 [debug] Stopped at height 0.014 mm
2025-04-29 06:17:23 [debug] Diagnostics for board 50:
2025-04-29 06:17:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:17:23 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:05:14 ago, cause: software
2025-04-29 06:17:23 [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
2025-04-29 06:17:23 [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
2025-04-29 06:17:23 [debug] Moves scheduled 30003, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=658, frequency (Hz): min=1190, max=15306
Sync err accum 76, peak jitter -1/1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 1156098176 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:17:23 [debug] Driver 0: pos -9619, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17221, writes 0 timeouts 0
2025-04-29 06:17:23 [debug] Last sensors broadcast 0x00000000 found 0 67 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 88, 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 381, adv 36038/37117
2025-04-29 06:17:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10456, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2280
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:17:23 [info] currentZPosition:0.0137
2025-04-29 06:17:23 [debug] Stopped at height 0.014 mm
2025-04-29 06:17:24 [debug] Stopped at height 0.014 mm
2025-04-29 06:17:24 [debug] Diagnostics for board 50:
2025-04-29 06:17:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:17:24 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.7%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:05:16 ago, cause: software
2025-04-29 06:17:24 [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
2025-04-29 06:17:24 [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
2025-04-29 06:17:24 [debug] Moves scheduled 30009, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=714, frequency (Hz): min=1096, max=15306
Sync err accum 66, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1154837940 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, ma
2025-04-29 06:17:24 [debug] Driver 0: pos -9617, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20062, writes 0 timeouts 0
2025-04-29 06:17:24 [debug] Last sensors broadcast 0x00000000 found 0 246 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 97, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36112/37126
2025-04-29 06:17:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10421, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:17:25 [info] currentZPosition:0.0139
2025-04-29 06:17:26 [debug] Stopped at height 0.015 mm
2025-04-29 06:17:26 [debug] Diagnostics for board 50:
2025-04-29 06:17:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:17:26 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.2%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:05:17 ago, cause: software
2025-04-29 06:17:26 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:17:26 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:17:26 [debug] Moves scheduled 30013, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 158, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=674, frequency (Hz): min=1194, max=15306
Sync err accum 64, peak jitter -2/1, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1153790185 ticks, 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
2025-04-29 06:17:26 [debug] Driver 0: pos -9607, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16570, writes 0 timeouts 0
2025-04-29 06:17:26 [debug] Last sensors broadcast 0x00000000 found 0 142 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 82, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 35985/37101
2025-04-29 06:17:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10437, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:17:26 [info] currentZPosition:0.0149
2025-04-29 06:17:27 [debug] Stopped at height 0.015 mm
2025-04-29 06:17:27 [debug] Diagnostics for board 50:
2025-04-29 06:17:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:17:27 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:05:19 ago, cause: software
2025-04-29 06:17:27 [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
2025-04-29 06:17:27 [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
2025-04-29 06:17:27 [debug] Moves scheduled 30017, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 309, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=597, frequency (Hz): min=1459, max=15306
Sync err accum 64, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1152752854 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:17:27 [debug] Driver 0: pos -9611, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16405, writes 0 timeouts 0
2025-04-29 06:17:27 [debug] Last sensors broadcast 0x00000000 found 0 27 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 80, 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 435, adv 36115/37152
2025-04-29 06:17:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10398, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4697, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:17:27 [info] currentZPosition:0.0146
2025-04-29 06:17:29 [debug] Stopped at height 0.015 mm
2025-04-29 06:17:29 [debug] Diagnostics for board 50:
2025-04-29 06:17:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:17:29 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:05:20 ago, cause: software
2025-04-29 06:17:29 [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
2025-04-29 06:17:29 [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
2025-04-29 06:17:29 [debug] Moves scheduled 30021, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=648, frequency (Hz): min=1417, max=15306
Sync err accum 67, peak jitter -1/1, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1151689554 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:17:29 [debug] Driver 0: pos -9611, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16736, writes 0 timeouts 0
2025-04-29 06:17:29 [debug] Last sensors broadcast 0x00000000 found 0 193 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 83, 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 378, adv 36003/37122
2025-04-29 06:17:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10409, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:17:29 [info] currentZPosition:0.0146
2025-04-29 06:17:30 [debug] Stopped at height 0.015 mm
2025-04-29 06:17:30 [debug] Diagnostics for board 50:
2025-04-29 06:17:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:17:30 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:05:21 ago, cause: software
2025-04-29 06:17:30 [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
2025-04-29 06:17:30 [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
2025-04-29 06:17:30 [debug] Moves scheduled 30025, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=562, frequency (Hz): min=1351, max=15306
Sync err accum 70, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 1150661826 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:17:30 [debug] Driver 0: pos -9611, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16247, writes 0 timeouts 0
2025-04-29 06:17:30 [debug] Last sensors broadcast 0x00000000 found 0 64 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 83, 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 345, adv 36138/37131
2025-04-29 06:17:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10450, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:17:30 [info] currentZPosition:0.0146
2025-04-29 06:17:31 [debug] Stopped at height 0.013 mm
2025-04-29 06:17:31 [debug] Diagnostics for board 50:
2025-04-29 06:17:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:17:31 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.1%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:05:23 ago, cause: software
2025-04-29 06:17:31 [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
2025-04-29 06:17:31 [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
2025-04-29 06:17:31 [debug] Moves scheduled 30029, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 380, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=434, frequency (Hz): min=1612, max=15306
Sync err accum 71, peak jitter 0/1, peak Rx delay 186, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1149558838 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:17:31 [debug] Driver 0: pos -9629, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17406, writes 0 timeouts 0
2025-04-29 06:17:31 [debug] Last sensors broadcast 0x00000000 found 0 35 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 100, 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 373, adv 36019/37152
2025-04-29 06:17:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2279
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10521, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4697, no error
Lin: Encoder reverse polarity: no, raw count 2281
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:17:32 [info] currentZPosition:0.0128
2025-04-29 06:17:32 [debug] Stopped at height 0.012 mm
2025-04-29 06:17:33 [debug] Stopped at height 0.014 mm
2025-04-29 06:17:33 [debug] Diagnostics for board 50:
2025-04-29 06:17:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:17:33 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:05:24 ago, cause: software
2025-04-29 06:17:33 [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
2025-04-29 06:17:33 [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
2025-04-29 06:17:33 [debug] Moves scheduled 30035, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=589, frequency (Hz): min=1334, max=15306
Sync err accum 68, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1148318155 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:17:33 [debug] Driver 0: pos -9613, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 19591, writes 0 timeouts 0
2025-04-29 06:17:33 [debug] Last sensors broadcast 0x00000000 found 0 190 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 100, 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 507, adv 36092/37123
2025-04-29 06:17:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10421, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:17:33 [info] currentZPosition:0.0144
2025-04-29 06:17:34 [debug] Stopped at height 0.012 mm
2025-04-29 06:17:35 [debug] Stopped at height 0.014 mm
2025-04-29 06:17:35 [debug] Diagnostics for board 50:
2025-04-29 06:17:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:17:35 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:05:26 ago, cause: software
2025-04-29 06:17:35 [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
2025-04-29 06:17:35 [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
2025-04-29 06:17:35 [debug] Moves scheduled 30041, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=488, frequency (Hz): min=1258, max=15306
Sync err accum 66, peak jitter -2/2, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1147007249 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:17:35 [debug] Driver 0: pos -9618, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20681, writes 0 timeouts 0
2025-04-29 06:17:35 [debug] Last sensors broadcast 0x00000000 found 0 187 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 116, 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 385, adv 36010/37144
2025-04-29 06:17:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10466, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:17:35 [info] currentZPosition:0.0139
2025-04-29 06:17:35 [debug] Stopped at height 0.013 mm
2025-04-29 06:17:37 [debug] Stopped at height 0.014 mm
2025-04-29 06:17:37 [debug] Diagnostics for board 50:
2025-04-29 06:17:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:17:37 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.7%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:05:28 ago, cause: software
2025-04-29 06:17:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:17:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:17:37 [debug] Moves scheduled 30047, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 339, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=716, frequency (Hz): min=1264, max=17045
Sync err accum 74, peak jitter 0/2, peak Rx delay 198, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1145754162 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:17:37 [debug] Driver 0: pos -9614, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 19957, writes 0 timeouts 0
2025-04-29 06:17:37 [debug] Last sensors broadcast 0x00000000 found 0 108 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 105, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36127/37135
2025-04-29 06:17:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10420, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:17:37 [info] currentZPosition:0.0143
2025-04-29 06:17:38 [debug] Stopped at height 0.015 mm
2025-04-29 06:17:38 [debug] Diagnostics for board 50:
2025-04-29 06:17:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:17:38 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:05:29 ago, cause: software
2025-04-29 06:17:38 [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
2025-04-29 06:17:38 [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
2025-04-29 06:17:38 [debug] Moves scheduled 30051, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 304, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=562, frequency (Hz): min=1420, max=15306
Sync err accum 79, peak jitter 0/1, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1144705375 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:17:38 [debug] Driver 0: pos -9609, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16608, writes 0 timeouts 0
2025-04-29 06:17:38 [debug] Last sensors broadcast 0x00000000 found 0 8 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 81, 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 364, adv 36025/37104
2025-04-29 06:17:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10457, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:17:38 [info] currentZPosition:0.0148
2025-04-29 06:17:39 [debug] Stopped at height 0.014 mm
2025-04-29 06:17:39 [debug] Diagnostics for board 50:
2025-04-29 06:17:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:17:39 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:05:31 ago, cause: software
2025-04-29 06:17:39 [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
2025-04-29 06:17:39 [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
2025-04-29 06:17:39 [debug] Moves scheduled 30055, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=773, frequency (Hz): min=1077, max=15306
Sync err accum 79, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1143662548 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:17:39 [debug] Driver 0: pos -9619, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16475, writes 0 timeouts 0
2025-04-29 06:17:39 [debug] Last sensors broadcast 0x00000000 found 0 146 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 82, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36067/37109
2025-04-29 06:17:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10474, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:17:39 [info] currentZPosition:0.0138
2025-04-29 06:17:41 [debug] Stopped at height 0.014 mm
2025-04-29 06:17:41 [debug] Diagnostics for board 50:
2025-04-29 06:17:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:17:41 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:05:32 ago, cause: software
2025-04-29 06:17:41 [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
2025-04-29 06:17:41 [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
2025-04-29 06:17:41 [debug] Moves scheduled 30059, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=873, frequency (Hz): min=1038, max=15306
Sync err accum 76, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1142596532 ticks, 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
2025-04-29 06:17:41 [debug] Driver 0: pos -9621, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16877, writes 0 timeouts 0
2025-04-29 06:17:41 [debug] Last sensors broadcast 0x00000000 found 0 68 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 92, 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 488, adv 36043/37096
2025-04-29 06:17:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10467, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:17:41 [info] currentZPosition:0.0137
2025-04-29 06:17:42 [debug] Stopped at height 0.014 mm
2025-04-29 06:17:42 [debug] Diagnostics for board 50:
2025-04-29 06:17:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:17:42 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:05:33 ago, cause: software
2025-04-29 06:17:42 [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
2025-04-29 06:17:42 [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
2025-04-29 06:17:42 [debug] Moves scheduled 30063, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 316, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=626, frequency (Hz): min=1488, max=15306
Sync err accum 71, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1141580372 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:17:42 [debug] Driver 0: pos -9615, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16034, writes 0 timeouts 0
2025-04-29 06:17:42 [debug] Last sensors broadcast 0x00000000 found 0 173 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 87, 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 387, adv 36075/37119
2025-04-29 06:17:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10417, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:17:42 [info] currentZPosition:0.0143
2025-04-29 06:17:44 [debug] Stopped at height 0.014 mm
2025-04-29 06:17:44 [debug] Diagnostics for board 50:
2025-04-29 06:17:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:17:44 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:05:35 ago, cause: software
2025-04-29 06:17:44 [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
2025-04-29 06:17:44 [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
2025-04-29 06:17:44 [debug] Moves scheduled 30067, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 166, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=706, frequency (Hz): min=1168, max=15306
Sync err accum 64, peak jitter -2/0, peak Rx delay 187, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1140515531 ticks, 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
2025-04-29 06:17:44 [debug] Driver 0: pos -9615, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16795, writes 0 timeouts 0
2025-04-29 06:17:44 [debug] Last sensors broadcast 0x00000000 found 0 93 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 89, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36008/37152
2025-04-29 06:17:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10461, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:17:44 [info] currentZPosition:0.0143
2025-04-29 06:17:45 [debug] Stopped at height 0.015 mm
2025-04-29 06:17:45 [debug] Diagnostics for board 50:
2025-04-29 06:17:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:17:45 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:05:36 ago, cause: software
2025-04-29 06:17:45 [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
2025-04-29 06:17:45 [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
2025-04-29 06:17:45 [debug] Moves scheduled 30071, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=597, frequency (Hz): min=1264, max=15625
Sync err accum 68, peak jitter -2/2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1139496131 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:17:45 [debug] Driver 0: pos -9613, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16005, writes 0 timeouts 0
2025-04-29 06:17:45 [debug] Last sensors broadcast 0x00000000 found 0 203 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 83, 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 397, adv 36241/37088
2025-04-29 06:17:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10460, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:17:45 [info] currentZPosition:0.0145
2025-04-29 06:17:46 [debug] Stopped at height 0.015 mm
2025-04-29 06:17:46 [debug] Diagnostics for board 50:
2025-04-29 06:17:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:17:46 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:05:38 ago, cause: software
2025-04-29 06:17:46 [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
2025-04-29 06:17:46 [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
2025-04-29 06:17:46 [debug] Moves scheduled 30075, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 240, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=828, frequency (Hz): min=1150, max=15306
Sync err accum 76, peak jitter 1/3, peak Rx delay 210, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1138436931 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:17:46 [debug] Driver 0: pos -9612, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16688, writes 0 timeouts 0
2025-04-29 06:17:46 [debug] Last sensors broadcast 0x00000000 found 0 114 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 85, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36014/37127
2025-04-29 06:17:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10426, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2280
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:17:46 [info] currentZPosition:0.0146
2025-04-29 06:17:48 [debug] Stopped at height 0.014 mm
2025-04-29 06:17:48 [debug] Diagnostics for board 50:
2025-04-29 06:17:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:17:48 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.9%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:05:39 ago, cause: software
2025-04-29 06:17:48 [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
2025-04-29 06:17:48 [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
2025-04-29 06:17:48 [debug] Moves scheduled 30079, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 527, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=645, frequency (Hz): min=1351, max=15306
Sync err accum 85, peak jitter 0/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1137400919 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 06:17:48 [debug] Driver 0: pos -9616, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16275, writes 0 timeouts 0
2025-04-29 06:17:48 [debug] Last sensors broadcast 0x00000000 found 0 246 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 88, 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 433, adv 36284/37136
2025-04-29 06:17:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2279
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10436, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:17:48 [info] currentZPosition:0.0142
2025-04-29 06:17:49 [debug] Stopped at height 0.014 mm
2025-04-29 06:17:49 [debug] Diagnostics for board 50:
2025-04-29 06:17:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:17:49 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:05:40 ago, cause: software
2025-04-29 06:17:49 [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
2025-04-29 06:17:49 [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
2025-04-29 06:17:49 [debug] Moves scheduled 30083, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 194, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=644, frequency (Hz): min=1239, max=15306
Sync err accum 87, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1136335527 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:17:49 [debug] Driver 0: pos -9618, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16792, writes 0 timeouts 0
2025-04-29 06:17:49 [debug] Last sensors broadcast 0x00000000 found 0 167 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 89, 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 369, adv 36031/37145
2025-04-29 06:17:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10453, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4696, no error
Lin: Encoder reverse polarity: no, raw count 2279
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:17:49 [info] currentZPosition:0.0140
2025-04-29 06:17:50 [debug] Stopped at height 0.014 mm
2025-04-29 06:17:50 [debug] Diagnostics for board 50:
2025-04-29 06:17:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:17:50 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:05:42 ago, cause: software
2025-04-29 06:17:50 [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
2025-04-29 06:17:50 [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
2025-04-29 06:17:50 [debug] Moves scheduled 30087, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 299, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=524, frequency (Hz): min=1521, max=15306
Sync err accum 87, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1135309787 ticks, 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
2025-04-29 06:17:50 [debug] Driver 0: pos -9616, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16165, writes 0 timeouts 0
2025-04-29 06:17:50 [debug] Last sensors broadcast 0x00000000 found 0 33 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 88, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 373, adv 36322/37155
2025-04-29 06:17:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10462, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:17:51 [info] currentZPosition:0.0143
2025-04-29 06:17:52 [debug] Stopped at height 0.015 mm
2025-04-29 06:17:52 [debug] Diagnostics for board 50:
2025-04-29 06:17:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:17:52 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.2%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:05:43 ago, cause: software
2025-04-29 06:17:52 [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
2025-04-29 06:17:52 [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
2025-04-29 06:17:52 [debug] Moves scheduled 30091, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=586, frequency (Hz): min=1436, max=15306
Sync err accum 82, peak jitter -1/0, peak Rx delay 208, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1134254110 ticks, 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
2025-04-29 06:17:52 [debug] Driver 0: pos -9610, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16705, writes 0 timeouts 0
2025-04-29 06:17:52 [debug] Last sensors broadcast 0x00000000 found 0 191 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 81, 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 390, adv 36003/37155
2025-04-29 06:17:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10453, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:17:52 [info] currentZPosition:0.0149
2025-04-29 06:17:53 [debug] Stopped at height 0.015 mm
2025-04-29 06:17:53 [debug] Diagnostics for board 50:
2025-04-29 06:17:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:17:53 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:05:45 ago, cause: software
2025-04-29 06:17:53 [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
2025-04-29 06:17:53 [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
2025-04-29 06:17:53 [debug] Moves scheduled 30095, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 243, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=588, frequency (Hz): min=1099, max=15306
Sync err accum 74, peak jitter -2/0, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1133224367 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max
2025-04-29 06:17:53 [debug] Driver 0: pos -9609, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16278, writes 0 timeouts 0
2025-04-29 06:17:53 [debug] Last sensors broadcast 0x00000000 found 0 65 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 80, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36305/37124
2025-04-29 06:17:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10447, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:17:53 [info] currentZPosition:0.0150
2025-04-29 06:17:55 [debug] Stopped at height 0.015 mm
2025-04-29 06:17:55 [debug] Diagnostics for board 50:
2025-04-29 06:17:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:17:55 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:05:46 ago, cause: software
2025-04-29 06:17:55 [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
2025-04-29 06:17:55 [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
2025-04-29 06:17:55 [debug] Moves scheduled 30099, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 435, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=560, frequency (Hz): min=1616, max=15306
Sync err accum 61, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1132155355 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, ma
2025-04-29 06:17:55 [debug] Driver 0: pos -9611, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16904, writes 0 timeouts 0
2025-04-29 06:17:55 [debug] Last sensors broadcast 0x00000000 found 0 239 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 80, 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 381, adv 36057/37085
2025-04-29 06:17:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10413, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4697, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:17:55 [info] currentZPosition:0.0148
2025-04-29 06:17:56 [debug] Stopped at height 0.014 mm
2025-04-29 06:17:56 [debug] Diagnostics for board 50:
2025-04-29 06:17:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:17:56 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.2%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:05:47 ago, cause: software
2025-04-29 06:17:56 [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
2025-04-29 06:17:56 [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
2025-04-29 06:17:56 [debug] Moves scheduled 30103, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=600, frequency (Hz): min=1394, max=15306
Sync err accum 73, peak jitter 0/4, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1131110725 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:17:56 [debug] Driver 0: pos -9618, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16508, writes 0 timeouts 0
2025-04-29 06:17:56 [debug] Last sensors broadcast 0x00000000 found 0 134 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 86, send timeouts 0, received 22, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36325/37109
2025-04-29 06:17:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10462, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:17:56 [info] currentZPosition:0.0141
2025-04-29 06:17:57 [debug] Stopped at height 0.015 mm
2025-04-29 06:17:57 [debug] Diagnostics for board 50:
2025-04-29 06:17:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:17:57 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:05:49 ago, cause: software
2025-04-29 06:17:57 [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
2025-04-29 06:17:57 [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
2025-04-29 06:17:57 [debug] Moves scheduled 30107, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=656, frequency (Hz): min=652, max=15306
Sync err accum 79, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1130055812 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, curr
2025-04-29 06:17:57 [debug] Driver 0: pos -9613, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16649, writes 11 timeouts 1
2025-04-29 06:17:57 [debug] Last sensors broadcast 0x00000000 found 0 39 ticks ago, 0 ordering errs, loop time 2
CAN messages queued 85, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 359, adv 36038/37138
2025-04-29 06:17:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10416, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:17:58 [info] currentZPosition:0.0146
2025-04-29 06:17:59 [debug] Stopped at height 0.015 mm
2025-04-29 06:17:59 [debug] Diagnostics for board 50:
2025-04-29 06:17:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:17:59 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:05:50 ago, cause: software
2025-04-29 06:17:59 [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
2025-04-29 06:17:59 [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
2025-04-29 06:17:59 [debug] Moves scheduled 30111, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=505, frequency (Hz): min=1536, max=15306
Sync err accum 82, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1129036734 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 06:17:59 [debug] Driver 0: pos -9608, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16090, writes 0 timeouts 0
2025-04-29 06:17:59 [debug] Last sensors broadcast 0x00000000 found 0 146 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 78, 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 383, adv 36310/37116
2025-04-29 06:17:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10442, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4696, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:17:59 [info] currentZPosition:0.0151
2025-04-29 06:18:00 [debug] Stopped at height 0.015 mm
2025-04-29 06:18:00 [debug] Diagnostics for board 50:
2025-04-29 06:18:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:18:00 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:05:52 ago, cause: software
2025-04-29 06:18:00 [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
2025-04-29 06:18:00 [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
2025-04-29 06:18:00 [debug] Moves scheduled 30115, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 309, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=617, frequency (Hz): min=1304, max=15306
Sync err accum 84, peak jitter 0/1, peak Rx delay 185, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1127966971 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 06:18:00 [debug] Driver 0: pos -9611, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16911, writes 0 timeouts 0
2025-04-29 06:18:00 [debug] Last sensors broadcast 0x00000000 found 0 74 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 85, 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 381, adv 36078/37117
2025-04-29 06:18:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10437, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:18:00 [info] currentZPosition:0.0148
2025-04-29 06:18:02 [debug] Stopped at height 0.014 mm
2025-04-29 06:18:02 [debug] Diagnostics for board 50:
2025-04-29 06:18:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:18:02 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:05:53 ago, cause: software
2025-04-29 06:18:02 [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
2025-04-29 06:18:02 [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
2025-04-29 06:18:02 [debug] Moves scheduled 30119, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 204, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=476, frequency (Hz): min=575, max=15306
Sync err accum 82, peak jitter -1/1, peak Rx delay 189, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1126924411 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 06:18:02 [debug] Driver 0: pos -9619, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16453, writes 11 timeouts 1
2025-04-29 06:18:02 [debug] Last sensors broadcast 0x00000000 found 0 215 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 91, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36321/37120
2025-04-29 06:18:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10444, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2279
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:18:02 [info] currentZPosition:0.0140
2025-04-29 06:18:03 [debug] Stopped at height 0.014 mm
2025-04-29 06:18:03 [debug] Diagnostics for board 50:
2025-04-29 06:18:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:18:03 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:05:54 ago, cause: software
2025-04-29 06:18:03 [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
2025-04-29 06:18:03 [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
2025-04-29 06:18:03 [debug] Moves scheduled 30123, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 162, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=541, frequency (Hz): min=1431, max=15306
Sync err accum 73, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, disabled, CC0 mismatch!!, next step interrupt due in 1125862804 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperat
2025-04-29 06:18:03 [debug] Driver 0: pos -9619, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16688, writes 0 timeouts 0
2025-04-29 06:18:03 [debug] Last sensors broadcast 0x00000000 found 0 130 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 89, send timeouts 0, received 22, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36054/37131
2025-04-29 06:18:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2279
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10433, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4697, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:18:03 [info] currentZPosition:0.0141
2025-04-29 06:18:04 [debug] Stopped at height 0.014 mm
2025-04-29 06:18:04 [debug] Diagnostics for board 50:
2025-04-29 06:18:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:18:04 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.1%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:05:56 ago, cause: software
2025-04-29 06:18:04 [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
2025-04-29 06:18:04 [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
2025-04-29 06:18:04 [debug] Moves scheduled 30127, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 593, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=572, frequency (Hz): min=1320, max=15306
Sync err accum 63, peak jitter -2/-1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1124827736 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, ma
2025-04-29 06:18:04 [debug] Driver 0: pos -9619, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16229, writes 0 timeouts 0
2025-04-29 06:18:04 [debug] Last sensors broadcast 0x00000000 found 0 10 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 91, 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 641, adv 36329/37136
2025-04-29 06:18:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10461, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2280
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:18:05 [info] currentZPosition:0.0141
2025-04-29 06:18:06 [debug] Stopped at height 0.015 mm
2025-04-29 06:18:06 [debug] Diagnostics for board 50:
2025-04-29 06:18:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:18:06 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 17:05:57 ago, cause: software
2025-04-29 06:18:06 [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
2025-04-29 06:18:06 [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
2025-04-29 06:18:06 [debug] Moves scheduled 30131, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=624, frequency (Hz): min=1017, max=15306
Sync err accum 67, peak jitter -2/2, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 1123777807 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:18:06 [debug] Driver 0: pos -9612, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16521, writes 0 timeouts 0
2025-04-29 06:18:06 [debug] Last sensors broadcast 0x00000000 found 0 160 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 83, 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 389, adv 36060/37110
2025-04-29 06:18:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10407, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:18:06 [info] currentZPosition:0.0148
2025-04-29 06:18:07 [debug] Stopped at height 0.015 mm
2025-04-29 06:18:07 [debug] Diagnostics for board 50:
2025-04-29 06:18:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:18:07 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.7%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:05:59 ago, cause: software
2025-04-29 06:18:07 [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
2025-04-29 06:18:07 [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
2025-04-29 06:18:07 [debug] Moves scheduled 30135, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=528, frequency (Hz): min=1428, max=15306
Sync err accum 72, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1122741177 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 06:18:07 [debug] Driver 0: pos -9615, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16285, writes 0 timeouts 0
2025-04-29 06:18:07 [debug] Last sensors broadcast 0x00000000 found 0 45 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 85, 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 438, adv 36369/37168
2025-04-29 06:18:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2281
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10423, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:18:07 [info] currentZPosition:0.0145
2025-04-29 06:18:09 [debug] Stopped at height 0.014 mm
2025-04-29 06:18:09 [debug] Diagnostics for board 50:
2025-04-29 06:18:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:18:09 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:06:00 ago, cause: software
2025-04-29 06:18:09 [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
2025-04-29 06:18:09 [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
2025-04-29 06:18:09 [debug] Moves scheduled 30139, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 377, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=800, frequency (Hz): min=1153, max=19736
Sync err accum 78, peak jitter 0/2, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1121673583 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 06:18:09 [debug] Driver 0: pos -9616, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16798, writes 0 timeouts 0
2025-04-29 06:18:09 [debug] Last sensors broadcast 0x00000000 found 0 214 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 87, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36051/37161
2025-04-29 06:18:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10427, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:18:09 [info] currentZPosition:0.0144
2025-04-29 06:18:10 [debug] Stopped at height 0.015 mm
2025-04-29 06:18:10 [debug] Diagnostics for board 50:
2025-04-29 06:18:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:18:10 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.0%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:06:01 ago, cause: software
2025-04-29 06:18:10 [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
2025-04-29 06:18:10 [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
2025-04-29 06:18:10 [debug] Moves scheduled 30143, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=753, frequency (Hz): min=1211, max=15306
Sync err accum 76, peak jitter -1/1, peak Rx delay 185, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1120660998 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:18:10 [debug] Driver 0: pos -9608, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15902, writes 0 timeouts 0
2025-04-29 06:18:10 [debug] Last sensors broadcast 0x00000000 found 0 64 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 80, 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 375, adv 36348/37106
2025-04-29 06:18:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10409, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:18:10 [info] currentZPosition:0.0152
2025-04-29 06:18:11 [debug] Stopped at height 0.014 mm
2025-04-29 06:18:11 [debug] Diagnostics for board 50:
2025-04-29 06:18:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:18:11 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:06:03 ago, cause: software
2025-04-29 06:18:11 [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
2025-04-29 06:18:11 [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
2025-04-29 06:18:11 [debug] Moves scheduled 30147, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=570, frequency (Hz): min=1470, max=15306
Sync err accum 72, peak jitter -1/0, peak Rx delay 186, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1119587558 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:18:11 [debug] Driver 0: pos -9616, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16989, writes 0 timeouts 0
2025-04-29 06:18:11 [debug] Last sensors broadcast 0x00000000 found 0 1 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 88, 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 456, adv 36007/37138
2025-04-29 06:18:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10430, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:18:12 [info] currentZPosition:0.0144
2025-04-29 06:18:13 [debug] Stopped at height 0.016 mm
2025-04-29 06:18:13 [debug] Diagnostics for board 50:
2025-04-29 06:18:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:18:13 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.8%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:06:04 ago, cause: software
2025-04-29 06:18:13 [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
2025-04-29 06:18:13 [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
2025-04-29 06:18:13 [debug] Moves scheduled 30151, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 393, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=528, frequency (Hz): min=1485, max=15306
Sync err accum 66, peak jitter -2/0, peak Rx delay 184, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1118585850 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:18:13 [debug] Driver 0: pos -9603, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15746, writes 0 timeouts 0
2025-04-29 06:18:13 [debug] Last sensors broadcast 0x00000000 found 0 82 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 78, 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 370, adv 36316/37124
2025-04-29 06:18:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10396, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:18:13 [info] currentZPosition:0.0157
2025-04-29 06:18:13 [debug] Stopped at height 0.015 mm
2025-04-29 06:18:15 [debug] Stopped at height 0.014 mm
2025-04-29 06:18:15 [debug] Diagnostics for board 50:
2025-04-29 06:18:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:18:15 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.5%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:06:06 ago, cause: software
2025-04-29 06:18:15 [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
2025-04-29 06:18:15 [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
2025-04-29 06:18:15 [debug] Moves scheduled 30157, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=592, frequency (Hz): min=1371, max=15306
Sync err accum 69, peak jitter -2/2, peak Rx delay 186, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 1117266724 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:18:15 [debug] Driver 0: pos -9617, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 21003, writes 0 timeouts 0
2025-04-29 06:18:15 [debug] Last sensors broadcast 0x00000000 found 0 92 ticks ago, 0 ordering errs, loop time 2
CAN messages queued 95, 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 476, adv 36054/37124
2025-04-29 06:18:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10437, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4697, no error
Lin: Encoder reverse polarity: no, raw count 2279
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:18:15 [info] currentZPosition:0.0143
2025-04-29 06:18:16 [debug] Stopped at height 0.015 mm
2025-04-29 06:18:16 [debug] Diagnostics for board 50:
2025-04-29 06:18:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:18:16 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:06:07 ago, cause: software
2025-04-29 06:18:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:18:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:18:16 [debug] Moves scheduled 30161, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=798, frequency (Hz): min=1196, max=15306
Sync err accum 77, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1116248284 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:18:16 [debug] Driver 0: pos -9612, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16091, writes 0 timeouts 0
2025-04-29 06:18:16 [debug] Last sensors broadcast 0x00000000 found 0 203 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 83, 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 468, adv 36347/37050
2025-04-29 06:18:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10443, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2280
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:18:16 [info] currentZPosition:0.0148
2025-04-29 06:18:17 [debug] Stopped at height 0.015 mm
2025-04-29 06:18:17 [debug] Diagnostics for board 50:
2025-04-29 06:18:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:18:17 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:06:09 ago, cause: software
2025-04-29 06:18:17 [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
2025-04-29 06:18:17 [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
2025-04-29 06:18:17 [debug] Moves scheduled 30165, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=466, frequency (Hz): min=1609, max=15306
Sync err accum 79, peak jitter 0/1, peak Rx delay 187, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1115188538 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 06:18:17 [debug] Driver 0: pos -9608, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16716, writes 0 timeouts 0
2025-04-29 06:18:17 [debug] Last sensors broadcast 0x00000000 found 0 111 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 80, 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 370, adv 36052/37103
2025-04-29 06:18:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10454, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:18:17 [info] currentZPosition:0.0152
2025-04-29 06:18:19 [debug] Stopped at height 0.015 mm
2025-04-29 06:18:19 [debug] Diagnostics for board 50:
2025-04-29 06:18:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:18:19 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:06:10 ago, cause: software
2025-04-29 06:18:19 [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
2025-04-29 06:18:19 [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
2025-04-29 06:18:19 [debug] Moves scheduled 30169, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 302, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=720, frequency (Hz): min=1200, max=15306
Sync err accum 75, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1114151270 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:18:19 [debug] Driver 0: pos -9614, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16398, writes 0 timeouts 0
2025-04-29 06:18:19 [debug] Last sensors broadcast 0x00000000 found 0 246 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 80, 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 537, adv 36301/37137
2025-04-29 06:18:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10416, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:18:19 [info] currentZPosition:0.0146
2025-04-29 06:18:20 [debug] Stopped at height 0.015 mm
2025-04-29 06:18:20 [debug] Diagnostics for board 50:
2025-04-29 06:18:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:18:20 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:06:11 ago, cause: software
2025-04-29 06:18:20 [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
2025-04-29 06:18:20 [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
2025-04-29 06:18:20 [debug] Moves scheduled 30173, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=521, frequency (Hz): min=647, max=15306
Sync err accum 69, peak jitter -2/0, peak Rx delay 214, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1113105948 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:18:20 [debug] Driver 0: pos -9606, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16520, writes 11 timeouts 1
2025-04-29 06:18:20 [debug] Last sensors broadcast 0x00000000 found 0 141 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 80, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36009/37133
2025-04-29 06:18:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10420, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:18:20 [info] currentZPosition:0.0154
2025-04-29 06:18:21 [debug] Stopped at height 0.015 mm
2025-04-29 06:18:21 [debug] Diagnostics for board 50:
2025-04-29 06:18:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:18:21 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:06:13 ago, cause: software
2025-04-29 06:18:21 [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
2025-04-29 06:18:21 [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
2025-04-29 06:18:21 [debug] Moves scheduled 30177, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=589, frequency (Hz): min=1546, max=15306
Sync err accum 64, peak jitter -2/1, peak Rx delay 198, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 1112072305 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:18:21 [debug] Driver 0: pos -9607, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16285, writes 0 timeouts 0
2025-04-29 06:18:21 [debug] Last sensors broadcast 0x00000000 found 0 18 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 81, 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 480, adv 36325/37171
2025-04-29 06:18:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10408, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:18:22 [info] currentZPosition:0.0153
2025-04-29 06:18:23 [debug] Stopped at height 0.015 mm
2025-04-29 06:18:23 [debug] Diagnostics for board 50:
2025-04-29 06:18:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:18:23 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:06:14 ago, cause: software
2025-04-29 06:18:23 [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
2025-04-29 06:18:23 [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
2025-04-29 06:18:23 [debug] Moves scheduled 30181, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 165, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=512, frequency (Hz): min=1546, max=15306
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 1110996578 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:18:23 [debug] Driver 0: pos -9614, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16942, writes 0 timeouts 0
2025-04-29 06:18:23 [debug] Last sensors broadcast 0x00000000 found 0 202 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 86, 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 380, adv 36052/37096
2025-04-29 06:18:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10459, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4708, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:18:23 [info] currentZPosition:0.0147
2025-04-29 06:18:24 [debug] Stopped at height 0.015 mm
2025-04-29 06:18:24 [debug] Diagnostics for board 50:
2025-04-29 06:18:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:18:24 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:06:16 ago, cause: software
2025-04-29 06:18:24 [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
2025-04-29 06:18:24 [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
2025-04-29 06:18:24 [debug] Moves scheduled 30185, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 320, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=454, frequency (Hz): min=1467, max=15306
Sync err accum 68, peak jitter -1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1109963214 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:18:24 [debug] Driver 0: pos -9615, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16313, writes 0 timeouts 0
2025-04-29 06:18:24 [debug] Last sensors broadcast 0x00000000 found 0 80 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 87, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36305/37102
2025-04-29 06:18:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10411, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:18:24 [info] currentZPosition:0.0146
2025-04-29 06:18:26 [debug] Stopped at height 0.014 mm
2025-04-29 06:18:26 [debug] Diagnostics for board 50:
2025-04-29 06:18:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:18:26 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:06:17 ago, cause: software
2025-04-29 06:18:26 [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
2025-04-29 06:18:26 [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
2025-04-29 06:18:26 [debug] Moves scheduled 30189, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 260, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=536, frequency (Hz): min=1572, max=15306
Sync err accum 73, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 0 ticks, disabled, next step interrupt due in 1108888844 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:18:26 [debug] Driver 0: pos -9622, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16940, writes 0 timeouts 0
2025-04-29 06:18:26 [debug] Last sensors broadcast 0x00000000 found 0 14 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 94, 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 373, adv 36019/37109
2025-04-29 06:18:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10461, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:18:26 [info] currentZPosition:0.0139
2025-04-29 06:18:27 [debug] Stopped at height 0.015 mm
2025-04-29 06:18:27 [debug] Diagnostics for board 50:
2025-04-29 06:18:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:18:27 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:06:18 ago, cause: software
2025-04-29 06:18:27 [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
2025-04-29 06:18:27 [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
2025-04-29 06:18:27 [debug] Moves scheduled 30193, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=758, frequency (Hz): min=1227, max=15306
Sync err accum 77, peak jitter 0/1, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1107883063 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:18:27 [debug] Driver 0: pos -9609, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15876, writes 0 timeouts 0
2025-04-29 06:18:27 [debug] Last sensors broadcast 0x00000000 found 0 102 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 79, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 355, adv 36345/37120
2025-04-29 06:18:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10453, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:18:27 [info] currentZPosition:0.0152
2025-04-29 06:18:27 [debug] Stopped at height 0.015 mm
2025-04-29 06:18:29 [debug] Stopped at height 0.016 mm
2025-04-29 06:18:29 [debug] Diagnostics for board 50:
2025-04-29 06:18:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:18:29 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.1%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:06:20 ago, cause: software
2025-04-29 06:18:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:18:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:18:29 [debug] Moves scheduled 30199, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=465, frequency (Hz): min=1388, max=15625
Sync err accum 74, peak jitter -1/1, peak Rx delay 185, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 1106594459 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:18:29 [debug] Driver 0: pos -9605, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20658, writes 0 timeouts 0
2025-04-29 06:18:29 [debug] Last sensors broadcast 0x00000000 found 0 71 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 88, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36102/37139
2025-04-29 06:18:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10435, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:18:29 [info] currentZPosition:0.0156
2025-04-29 06:18:30 [debug] Stopped at height 0.015 mm
2025-04-29 06:18:30 [debug] Diagnostics for board 50:
2025-04-29 06:18:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:18:30 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.1%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:06:21 ago, cause: software
2025-04-29 06:18:30 [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
2025-04-29 06:18:30 [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
2025-04-29 06:18:30 [debug] Moves scheduled 30203, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 374, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=436, frequency (Hz): min=1616, max=15306
Sync err accum 68, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1105560299 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:18:30 [debug] Driver 0: pos -9608, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16377, writes 0 timeouts 0
2025-04-29 06:18:30 [debug] Last sensors broadcast 0x00000000 found 0 200 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 78, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 358, adv 36335/37158
2025-04-29 06:18:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10400, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:18:30 [info] currentZPosition:0.0153
2025-04-29 06:18:32 [debug] Stopped at height 0.014 mm
2025-04-29 06:18:32 [debug] Diagnostics for board 50:
2025-04-29 06:18:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:18:32 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:06:23 ago, cause: software
2025-04-29 06:18:32 [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
2025-04-29 06:18:32 [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
2025-04-29 06:18:32 [debug] Moves scheduled 30207, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=558, frequency (Hz): min=1198, max=15306
Sync err accum 64, peak jitter -2/1, peak Rx delay 189, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1104472992 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:18:32 [debug] Driver 0: pos -9622, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17164, writes 0 timeouts 0
2025-04-29 06:18:32 [debug] Last sensors broadcast 0x00000000 found 0 150 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 91, 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 396, adv 36097/37134
2025-04-29 06:18:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10485, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:18:32 [info] currentZPosition:0.0139
2025-04-29 06:18:32 [debug] Stopped at height 0.014 mm
2025-04-29 06:18:33 [debug] Stopped at height 0.015 mm
2025-04-29 06:18:33 [debug] Diagnostics for board 50:
2025-04-29 06:18:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:18:33 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.5%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:06:25 ago, cause: software
2025-04-29 06:18:33 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:18:33 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:18:33 [debug] Moves scheduled 30213, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=642, frequency (Hz): min=1447, max=15306
Sync err accum 82, peak jitter 2/3, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1103226772 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:18:33 [debug] Driver 0: pos -9611, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 19880, writes 0 timeouts 0
2025-04-29 06:18:33 [debug] Last sensors broadcast 0x00000000 found 0 62 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 96, 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 372, adv 36312/37126
2025-04-29 06:18:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10414, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:18:33 [info] currentZPosition:0.0150
2025-04-29 06:18:35 [debug] Stopped at height 0.016 mm
2025-04-29 06:18:35 [debug] Diagnostics for board 50:
2025-04-29 06:18:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:18:35 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:06:26 ago, cause: software
2025-04-29 06:18:35 [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
2025-04-29 06:18:35 [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
2025-04-29 06:18:35 [debug] Moves scheduled 30217, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=576, frequency (Hz): min=1431, max=15306
Sync err accum 89, peak jitter 0/2, peak Rx delay 189, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1102173161 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 06:18:35 [debug] Driver 0: pos -9606, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16643, writes 0 timeouts 0
2025-04-29 06:18:35 [debug] Last sensors broadcast 0x00000000 found 0 216 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 78, 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 387, adv 36057/37112
2025-04-29 06:18:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10440, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:18:35 [info] currentZPosition:0.0155
2025-04-29 06:18:36 [debug] Stopped at height 0.014 mm
2025-04-29 06:18:36 [debug] Diagnostics for board 50:
2025-04-29 06:18:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:18:36 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.2%
Owned mutexes:
Last reset 17:06:27 ago, cause: software
2025-04-29 06:18:36 [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
2025-04-29 06:18:36 [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
2025-04-29 06:18:36 [debug] Moves scheduled 30221, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 260, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=501, frequency (Hz): min=1404, max=15306
Sync err accum 95, peak jitter 0/2, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1101111531 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:18:36 [debug] Driver 0: pos -9622, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16728, writes 0 timeouts 0
2025-04-29 06:18:36 [debug] Last sensors broadcast 0x00000000 found 0 131 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 89, 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 458, adv 36346/37073
2025-04-29 06:18:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2279
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10468, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:18:36 [info] currentZPosition:0.0139
2025-04-29 06:18:36 [debug] Stopped at height 0.014 mm
2025-04-29 06:18:38 [debug] Stopped at height 0.016 mm
2025-04-29 06:18:38 [debug] Diagnostics for board 50:
2025-04-29 06:18:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:18:38 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:06:29 ago, cause: software
2025-04-29 06:18:38 [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
2025-04-29 06:18:38 [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
2025-04-29 06:18:38 [debug] Moves scheduled 30227, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=633, frequency (Hz): min=1233, max=15306
Sync err accum 94, peak jitter -1/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 1099854674 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:18:38 [debug] Driver 0: pos -9601, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20075, writes 0 timeouts 0
2025-04-29 06:18:38 [debug] Last sensors broadcast 0x00000000 found 0 56 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 88, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36032/37104
2025-04-29 06:18:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10402, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:18:38 [info] currentZPosition:0.0160
2025-04-29 06:18:38 [debug] Stopped at height 0.015 mm
2025-04-29 06:18:39 [debug] Stopped at height 0.015 mm
2025-04-29 06:18:39 [debug] Diagnostics for board 50:
2025-04-29 06:18:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:18:39 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.7%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:06:31 ago, cause: software
2025-04-29 06:18:39 [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
2025-04-29 06:18:39 [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
2025-04-29 06:18:39 [debug] Moves scheduled 30233, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=585, frequency (Hz): min=942, max=15306
Sync err accum 92, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1098579249 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:18:39 [debug] Driver 0: pos -9610, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20231, writes 11 timeouts 1
2025-04-29 06:18:39 [debug] Last sensors broadcast 0x00000000 found 0 8 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 96, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 394, adv 36173/37107
2025-04-29 06:18:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10421, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:18:40 [info] currentZPosition:0.0151
2025-04-29 06:18:41 [debug] Stopped at height 0.015 mm
2025-04-29 06:18:41 [debug] Diagnostics for board 50:
2025-04-29 06:18:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:18:41 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:06:32 ago, cause: software
2025-04-29 06:18:41 [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
2025-04-29 06:18:41 [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
2025-04-29 06:18:41 [debug] Moves scheduled 30237, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 283, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=612, frequency (Hz): min=1299, max=15625
Sync err accum 84, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1097510216 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, ma
2025-04-29 06:18:41 [debug] Driver 0: pos -9612, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16867, writes 0 timeouts 0
2025-04-29 06:18:41 [debug] Last sensors broadcast 0x00000000 found 0 185 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 81, 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 411, adv 36104/37075
2025-04-29 06:18:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10442, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2279
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:18:41 [info] currentZPosition:0.0149
2025-04-29 06:18:42 [debug] Stopped at height 0.015 mm
2025-04-29 06:18:42 [debug] Diagnostics for board 50:
2025-04-29 06:18:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:18:42 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:06:34 ago, cause: software
2025-04-29 06:18:42 [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
2025-04-29 06:18:42 [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
2025-04-29 06:18:42 [debug] Moves scheduled 30241, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 500, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=532, frequency (Hz): min=1341, max=15306
Sync err accum 76, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 1096487828 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 06:18:42 [debug] Driver 0: pos -9608, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16097, writes 0 timeouts 0
2025-04-29 06:18:42 [debug] Last sensors broadcast 0x00000000 found 0 45 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 82, 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 463, adv 36113/37057
2025-04-29 06:18:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10443, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:18:42 [info] currentZPosition:0.0153
2025-04-29 06:18:44 [debug] Stopped at height 0.015 mm
2025-04-29 06:18:44 [debug] Diagnostics for board 50:
2025-04-29 06:18:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:18:44 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:06:35 ago, cause: software
2025-04-29 06:18:44 [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
2025-04-29 06:18:44 [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
2025-04-29 06:18:44 [debug] Moves scheduled 30245, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 309, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=545, frequency (Hz): min=1549, max=15625
Sync err accum 62, peak jitter -3/0, peak Rx delay 192, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 1095423158 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:18:44 [debug] Driver 0: pos -9610, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16823, writes 0 timeouts 0
2025-04-29 06:18:44 [debug] Last sensors broadcast 0x00000000 found 0 215 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 80, 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 381, adv 36046/37165
2025-04-29 06:18:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10443, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:18:44 [info] currentZPosition:0.0151
2025-04-29 06:18:45 [debug] Stopped at height 0.014 mm
2025-04-29 06:18:45 [debug] Diagnostics for board 50:
2025-04-29 06:18:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:18:45 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 17:06:36 ago, cause: software
2025-04-29 06:18:45 [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
2025-04-29 06:18:45 [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
2025-04-29 06:18:45 [debug] Moves scheduled 30249, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=536, frequency (Hz): min=1363, max=15306
Sync err accum 74, peak jitter 0/3, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 1094382144 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:18:45 [debug] Driver 0: pos -9617, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16506, writes 0 timeouts 0
2025-04-29 06:18:45 [debug] Last sensors broadcast 0x00000000 found 0 104 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 87, 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 375, adv 36113/37100
2025-04-29 06:18:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10474, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:18:45 [info] currentZPosition:0.0144
2025-04-29 06:18:46 [debug] Stopped at height 0.016 mm
2025-04-29 06:18:46 [debug] Diagnostics for board 50:
2025-04-29 06:18:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:18:46 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 17:06:38 ago, cause: software
2025-04-29 06:18:46 [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
2025-04-29 06:18:46 [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
2025-04-29 06:18:46 [debug] Moves scheduled 30253, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 320, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=464, frequency (Hz): min=1612, max=15306
Sync err accum 84, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1093343922 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:18:46 [debug] Driver 0: pos -9605, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16424, writes 0 timeouts 0
2025-04-29 06:18:46 [debug] Last sensors broadcast 0x00000000 found 0 238 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 79, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 35998/37124
2025-04-29 06:18:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10404, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:18:47 [info] currentZPosition:0.0156
2025-04-29 06:18:48 [debug] Stopped at height 0.015 mm
2025-04-29 06:18:48 [debug] Diagnostics for board 50:
2025-04-29 06:18:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:18:48 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:06:39 ago, cause: software
2025-04-29 06:18:48 [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
2025-04-29 06:18:48 [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
2025-04-29 06:18:48 [debug] Moves scheduled 30257, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 342, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=701, frequency (Hz): min=1229, max=15625
Sync err accum 92, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1092300358 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:18:48 [debug] Driver 0: pos -9616, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16485, writes 0 timeouts 0
2025-04-29 06:18:48 [debug] Last sensors broadcast 0x00000000 found 0 130 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 85, 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 372, adv 36074/37121
2025-04-29 06:18:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10474, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:18:48 [info] currentZPosition:0.0145
2025-04-29 06:18:49 [debug] Stopped at height 0.014 mm
2025-04-29 06:18:49 [debug] Diagnostics for board 50:
2025-04-29 06:18:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:18:49 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:06:41 ago, cause: software
2025-04-29 06:18:49 [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
2025-04-29 06:18:49 [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
2025-04-29 06:18:49 [debug] Moves scheduled 30261, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 223, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=584, frequency (Hz): min=684, max=15306
Sync err accum 95, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1091226332 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 3
2025-04-29 06:18:49 [debug] Driver 0: pos -9622, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16899, writes 11 timeouts 1
2025-04-29 06:18:49 [debug] Last sensors broadcast 0x00000000 found 0 63 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 91, 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 383, adv 36012/37102
2025-04-29 06:18:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10459, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:18:49 [info] currentZPosition:0.0139
2025-04-29 06:18:51 [debug] Stopped at height 0.015 mm
2025-04-29 06:18:51 [debug] Diagnostics for board 50:
2025-04-29 06:18:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:18:51 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.9%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:06:42 ago, cause: software
2025-04-29 06:18:51 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:18:51 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:18:51 [debug] Moves scheduled 30265, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=745, frequency (Hz): min=816, max=15306
Sync err accum 95, peak jitter 0/0, peak Rx delay 210, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1090225647 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 3
2025-04-29 06:18:51 [debug] Driver 0: pos -9610, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15695, writes 11 timeouts 1
2025-04-29 06:18:51 [debug] Last sensors broadcast 0x00000000 found 0 146 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 79, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36061/37120
2025-04-29 06:18:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10454, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:18:51 [info] currentZPosition:0.0151
2025-04-29 06:18:52 [debug] Stopped at height 0.015 mm
2025-04-29 06:18:52 [debug] Diagnostics for board 50:
2025-04-29 06:18:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:18:52 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:06:43 ago, cause: software
2025-04-29 06:18:52 [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
2025-04-29 06:18:52 [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
2025-04-29 06:18:52 [debug] Moves scheduled 30269, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=633, frequency (Hz): min=1179, max=15306
Sync err accum 94, peak jitter -1/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1089155861 ticks, 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
2025-04-29 06:18:52 [debug] Driver 0: pos -9614, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16944, writes 0 timeouts 0
2025-04-29 06:18:52 [debug] Last sensors broadcast 0x00000000 found 0 72 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 83, 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 342, adv 36091/37126
2025-04-29 06:18:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10423, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4696, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:18:52 [info] currentZPosition:0.0148
2025-04-29 06:18:53 [debug] Stopped at height 0.015 mm
2025-04-29 06:18:53 [debug] Diagnostics for board 50:
2025-04-29 06:18:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:18:53 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:06:45 ago, cause: software
2025-04-29 06:18:53 [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
2025-04-29 06:18:53 [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
2025-04-29 06:18:53 [debug] Moves scheduled 30273, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 395, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=482, frequency (Hz): min=1740, max=15306
Sync err accum 88, peak jitter -2/0, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 1088126345 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:18:53 [debug] Driver 0: pos -9617, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16259, writes 0 timeouts 0
2025-04-29 06:18:53 [debug] Last sensors broadcast 0x00000000 found 0 194 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 85, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 359, adv 36091/37134
2025-04-29 06:18:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10481, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:18:53 [info] currentZPosition:0.0146
2025-04-29 06:18:55 [debug] Stopped at height 0.016 mm
2025-04-29 06:18:55 [debug] Diagnostics for board 50:
2025-04-29 06:18:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:18:55 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:06:46 ago, cause: software
2025-04-29 06:18:55 [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
2025-04-29 06:18:55 [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
2025-04-29 06:18:55 [debug] Moves scheduled 30277, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=582, frequency (Hz): min=1488, max=15625
Sync err accum 75, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1087077310 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, ma
2025-04-29 06:18:55 [debug] Driver 0: pos -9608, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16589, writes 0 timeouts 0
2025-04-29 06:18:55 [debug] Last sensors broadcast 0x00000000 found 0 94 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 83, 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 378, adv 36071/37150
2025-04-29 06:18:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10417, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4697, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:18:55 [info] currentZPosition:0.0155
2025-04-29 06:18:56 [debug] Stopped at height 0.014 mm
2025-04-29 06:18:56 [debug] Diagnostics for board 50:
2025-04-29 06:18:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:18:56 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.8%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:06:47 ago, cause: software
2025-04-29 06:18:56 [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
2025-04-29 06:18:56 [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
2025-04-29 06:18:56 [debug] Moves scheduled 30281, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=509, frequency (Hz): min=1623, max=15306
Sync err accum 63, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1086016871 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 06:18:56 [debug] Driver 0: pos -9624, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16647, writes 0 timeouts 0
2025-04-29 06:18:56 [debug] Last sensors broadcast 0x00000000 found 0 7 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 96, 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 360, adv 36101/37117
2025-04-29 06:18:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10487, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4697, no error
Lin: Encoder reverse polarity: no, raw count 2280
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:18:56 [info] currentZPosition:0.0139
2025-04-29 06:18:57 [debug] Stopped at height 0.014 mm
2025-04-29 06:18:58 [debug] Stopped at height 0.015 mm
2025-04-29 06:18:58 [debug] Diagnostics for board 50:
2025-04-29 06:18:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:18:58 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.5%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:06:49 ago, cause: software
2025-04-29 06:18:58 [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
2025-04-29 06:18:58 [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
2025-04-29 06:18:58 [debug] Moves scheduled 30287, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=488, frequency (Hz): min=1630, max=15306
Sync err accum 71, peak jitter -2/3, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1084738438 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:18:58 [debug] Driver 0: pos -9613, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20409, writes 0 timeouts 0
2025-04-29 06:18:58 [debug] Last sensors broadcast 0x00000000 found 0 212 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 92, 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 409, adv 36089/37120
2025-04-29 06:18:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2279
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10437, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:18:58 [info] currentZPosition:0.0150
2025-04-29 06:18:59 [debug] Stopped at height 0.014 mm
2025-04-29 06:18:59 [debug] Diagnostics for board 50:
2025-04-29 06:18:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:18:59 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:06:51 ago, cause: software
2025-04-29 06:18:59 [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
2025-04-29 06:18:59 [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
2025-04-29 06:18:59 [debug] Moves scheduled 30291, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=492, frequency (Hz): min=1662, max=15306
Sync err accum 80, peak jitter 1/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1083697162 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 06:18:59 [debug] Driver 0: pos -9622, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16372, writes 0 timeouts 0
2025-04-29 06:18:59 [debug] Last sensors broadcast 0x00000000 found 0 101 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 94, 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 424, adv 36097/37114
2025-04-29 06:18:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10469, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:18:59 [info] currentZPosition:0.0141
2025-04-29 06:19:01 [debug] Stopped at height 0.015 mm
2025-04-29 06:19:01 [debug] Diagnostics for board 50:
2025-04-29 06:19:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:19:01 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:06:52 ago, cause: software
2025-04-29 06:19:01 [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
2025-04-29 06:19:01 [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
2025-04-29 06:19:01 [debug] Moves scheduled 30295, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=450, frequency (Hz): min=1488, max=15306
Sync err accum 87, peak jitter 0/2, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1082645513 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:19:01 [debug] Driver 0: pos -9617, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16620, writes 0 timeouts 0
2025-04-29 06:19:01 [debug] Last sensors broadcast 0x00000000 found 0 4 ticks ago, 0 ordering errs, loop time 2
CAN messages queued 90, 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 375, adv 36047/37120
2025-04-29 06:19:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10480, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:19:01 [info] currentZPosition:0.0146
2025-04-29 06:19:02 [debug] Stopped at height 0.014 mm
2025-04-29 06:19:02 [debug] Diagnostics for board 50:
2025-04-29 06:19:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:19:02 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:06:53 ago, cause: software
2025-04-29 06:19:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:19:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:19:02 [debug] Moves scheduled 30299, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=465, frequency (Hz): min=1201, max=25000
Sync err accum 88, peak jitter 0/1, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1081611142 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:19:02 [debug] Driver 0: pos -9620, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16306, writes 0 timeouts 0
2025-04-29 06:19:02 [debug] Last sensors broadcast 0x00000000 found 0 132 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 88, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 402, adv 36085/37076
2025-04-29 06:19:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10428, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:19:02 [info] currentZPosition:0.0143
2025-04-29 06:19:03 [debug] Stopped at height 0.016 mm
2025-04-29 06:19:03 [debug] Diagnostics for board 50:
2025-04-29 06:19:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:19:03 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.7%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:06:55 ago, cause: software
2025-04-29 06:19:03 [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
2025-04-29 06:19:03 [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
2025-04-29 06:19:03 [debug] Moves scheduled 30303, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=589, frequency (Hz): min=1556, max=15306
Sync err accum 89, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 1080573329 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:19:03 [debug] Driver 0: pos -9606, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16343, writes 0 timeouts 0
2025-04-29 06:19:03 [debug] Last sensors broadcast 0x00000000 found 0 16 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 83, 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 366, adv 36057/37119
2025-04-29 06:19:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10443, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:19:04 [info] currentZPosition:0.0157
2025-04-29 06:19:04 [debug] Stopped at height 0.015 mm
2025-04-29 06:19:05 [debug] Stopped at height 0.015 mm
2025-04-29 06:19:05 [debug] Diagnostics for board 50:
2025-04-29 06:19:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:19:05 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 17:06:56 ago, cause: software
2025-04-29 06:19:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:19:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:19:05 [debug] Moves scheduled 30309, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=612, frequency (Hz): min=1325, max=15306
Sync err accum 84, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 1079305333 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:19:05 [debug] Driver 0: pos -9609, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20212, writes 0 timeouts 0
2025-04-29 06:19:05 [debug] Last sensors broadcast 0x00000000 found 0 208 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 86, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36074/37119
2025-04-29 06:19:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10451, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:19:05 [info] currentZPosition:0.0154
2025-04-29 06:19:07 [debug] Stopped at height 0.014 mm
2025-04-29 06:19:07 [debug] Diagnostics for board 50:
2025-04-29 06:19:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:19:07 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:06:58 ago, cause: software
2025-04-29 06:19:07 [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
2025-04-29 06:19:07 [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
2025-04-29 06:19:07 [debug] Moves scheduled 30313, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 277, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=548, frequency (Hz): min=1562, max=15306
Sync err accum 70, peak jitter -2/-2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 1078223680 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 06:19:07 [debug] Driver 0: pos -9619, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17068, writes 0 timeouts 0
2025-04-29 06:19:07 [debug] Last sensors broadcast 0x00000000 found 0 150 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 87, 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 364, adv 36084/37116
2025-04-29 06:19:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10456, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4697, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:19:07 [info] currentZPosition:0.0144
2025-04-29 06:19:08 [debug] Stopped at height 0.015 mm
2025-04-29 06:19:08 [debug] Diagnostics for board 50:
2025-04-29 06:19:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:19:08 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:06:59 ago, cause: software
2025-04-29 06:19:08 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:19:08 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:19:08 [debug] Moves scheduled 30317, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 336, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=605, frequency (Hz): min=1497, max=15625
Sync err accum 62, peak jitter -2/0, peak Rx delay 171, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1077203724 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max
2025-04-29 06:19:08 [debug] Driver 0: pos -9614, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16030, writes 0 timeouts 0
2025-04-29 06:19:08 [debug] Last sensors broadcast 0x00000000 found 0 8 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 87, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 367, adv 36162/37122
2025-04-29 06:19:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10452, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4696, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:19:08 [info] currentZPosition:0.0149
2025-04-29 06:19:09 [debug] Stopped at height 0.014 mm
2025-04-29 06:19:09 [debug] Diagnostics for board 50:
2025-04-29 06:19:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:19:09 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:07:01 ago, cause: software
2025-04-29 06:19:09 [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
2025-04-29 06:19:09 [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
2025-04-29 06:19:09 [debug] Moves scheduled 30321, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 733, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=517, frequency (Hz): min=1659, max=15625
Sync err accum 76, peak jitter 0/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1076123190 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:19:09 [debug] Driver 0: pos -9624, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17068, writes 0 timeouts 0
2025-04-29 06:19:09 [debug] Last sensors broadcast 0x00000000 found 0 200 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 89, 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 435, adv 36050/37072
2025-04-29 06:19:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2279
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10467, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:19:09 [info] currentZPosition:0.0139
2025-04-29 06:19:11 [debug] Stopped at height 0.015 mm
2025-04-29 06:19:11 [debug] Diagnostics for board 50:
2025-04-29 06:19:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:19:11 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.7%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:07:02 ago, cause: software
2025-04-29 06:19:11 [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
2025-04-29 06:19:11 [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
2025-04-29 06:19:11 [debug] Moves scheduled 30325, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=658, frequency (Hz): min=1290, max=15306
Sync err accum 90, peak jitter 2/3, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1075120155 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:19:11 [debug] Driver 0: pos -9610, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15799, writes 0 timeouts 0
2025-04-29 06:19:11 [debug] Last sensors broadcast 0x00000000 found 0 36 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 81, send timeouts 0, received 22, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36063/37154
2025-04-29 06:19:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10399, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:19:11 [info] currentZPosition:0.0153
2025-04-29 06:19:11 [debug] Stopped at height 0.014 mm
2025-04-29 06:19:12 [debug] Stopped at height 0.015 mm
2025-04-29 06:19:12 [debug] Diagnostics for board 50:
2025-04-29 06:19:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:19:12 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.7%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:07:04 ago, cause: software
2025-04-29 06:19:12 [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
2025-04-29 06:19:12 [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
2025-04-29 06:19:12 [debug] Moves scheduled 30331, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 240, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=542, frequency (Hz): min=1239, max=15306
Sync err accum 104, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 1073817732 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:19:12 [debug] Driver 0: pos -9615, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20700, writes 0 timeouts 0
2025-04-29 06:19:12 [debug] Last sensors broadcast 0x00000000 found 0 23 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 103, 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 450, adv 36087/37123
2025-04-29 06:19:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10415, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:19:13 [info] currentZPosition:0.0148
2025-04-29 06:19:13 [debug] Stopped at height 0.015 mm
2025-04-29 06:19:14 [debug] Stopped at height 0.016 mm
2025-04-29 06:19:14 [debug] Diagnostics for board 50:
2025-04-29 06:19:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:19:14 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.0%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:07:05 ago, cause: software
2025-04-29 06:19:14 [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
2025-04-29 06:19:14 [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
2025-04-29 06:19:14 [debug] Moves scheduled 30337, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=626, frequency (Hz): min=1339, max=15306
Sync err accum 111, peak jitter 0/2, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1072575199 ticks, 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
2025-04-29 06:19:14 [debug] Driver 0: pos -9606, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 19790, writes 0 timeouts 0
2025-04-29 06:19:14 [debug] Last sensors broadcast 0x00000000 found 0 183 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 89, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 36067/37134
2025-04-29 06:19:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10407, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:19:14 [info] currentZPosition:0.0157
2025-04-29 06:19:16 [debug] Stopped at height 0.016 mm
2025-04-29 06:19:16 [debug] Diagnostics for board 50:
2025-04-29 06:19:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:19:16 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:07:07 ago, cause: software
2025-04-29 06:19:16 [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
2025-04-29 06:19:16 [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
2025-04-29 06:19:16 [debug] Moves scheduled 30341, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 384, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=598, frequency (Hz): min=1540, max=15306
Sync err accum 115, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1071517344 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:19:16 [debug] Driver 0: pos -9604, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16718, writes 0 timeouts 0
2025-04-29 06:19:16 [debug] Last sensors broadcast 0x00000000 found 0 90 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 80, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36054/37110
2025-04-29 06:19:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10437, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:19:16 [info] currentZPosition:0.0159
2025-04-29 06:19:17 [debug] Stopped at height 0.015 mm
2025-04-29 06:19:17 [debug] Diagnostics for board 50:
2025-04-29 06:19:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:19:17 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:07:08 ago, cause: software
2025-04-29 06:19:17 [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
2025-04-29 06:19:17 [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
2025-04-29 06:19:17 [debug] Moves scheduled 30345, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 399, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=469, frequency (Hz): min=1764, max=15625
Sync err accum 113, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1070469697 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, ma
2025-04-29 06:19:17 [debug] Driver 0: pos -9617, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16545, writes 0 timeouts 0
2025-04-29 06:19:17 [debug] Last sensors broadcast 0x00000000 found 0 238 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 86, 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 598, adv 36070/37106
2025-04-29 06:19:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10422, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2280
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:19:17 [info] currentZPosition:0.0146
2025-04-29 06:19:17 [debug] Stopped at height 0.015 mm
2025-04-29 06:19:19 [debug] Stopped at height 0.015 mm
2025-04-29 06:19:19 [debug] Diagnostics for board 50:
2025-04-29 06:19:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:19:19 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.4%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:07:10 ago, cause: software
2025-04-29 06:19:19 [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
2025-04-29 06:19:19 [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
2025-04-29 06:19:19 [debug] Moves scheduled 30351, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=544, frequency (Hz): min=1423, max=15306
Sync err accum 108, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1069189526 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, ma
2025-04-29 06:19:19 [debug] Driver 0: pos -9610, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20461, writes 0 timeouts 0
2025-04-29 06:19:19 [debug] Last sensors broadcast 0x00000000 found 0 195 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 90, 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 456, adv 36056/37121
2025-04-29 06:19:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10449, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:19:19 [info] currentZPosition:0.0153
2025-04-29 06:19:20 [debug] Stopped at height 0.015 mm
2025-04-29 06:19:20 [debug] Diagnostics for board 50:
2025-04-29 06:19:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:19:20 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:07:11 ago, cause: software
2025-04-29 06:19:20 [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
2025-04-29 06:19:20 [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
2025-04-29 06:19:20 [debug] Moves scheduled 30355, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=512, frequency (Hz): min=1428, max=15306
Sync err accum 97, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1068159945 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 06:19:20 [debug] Driver 0: pos -9611, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16262, writes 0 timeouts 0
2025-04-29 06:19:20 [debug] Last sensors broadcast 0x00000000 found 0 67 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 83, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36076/37122
2025-04-29 06:19:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10430, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:19:20 [info] currentZPosition:0.0152
2025-04-29 06:19:21 [debug] Stopped at height 0.015 mm
2025-04-29 06:19:21 [debug] Diagnostics for board 50:
2025-04-29 06:19:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:19:21 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.1%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:07:13 ago, cause: software
2025-04-29 06:19:21 [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
2025-04-29 06:19:21 [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
2025-04-29 06:19:21 [debug] Moves scheduled 30359, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=464, frequency (Hz): min=537, max=15306
Sync err accum 84, peak jitter -3/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1067104269 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:19:21 [debug] Driver 0: pos -9610, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16684, writes 11 timeouts 1
2025-04-29 06:19:21 [debug] Last sensors broadcast 0x00000000 found 0 225 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 80, 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 376, adv 36016/37141
2025-04-29 06:19:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10457, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:19:22 [info] currentZPosition:0.0154
2025-04-29 06:19:23 [debug] Stopped at height 0.014 mm
2025-04-29 06:19:23 [debug] Diagnostics for board 50:
2025-04-29 06:19:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:19:23 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:07:14 ago, cause: software
2025-04-29 06:19:23 [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
2025-04-29 06:19:23 [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
2025-04-29 06:19:23 [debug] Moves scheduled 30363, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 162, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=578, frequency (Hz): min=1401, max=15306
Sync err accum 67, peak jitter -3/-2, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1066044053 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, ma
2025-04-29 06:19:23 [debug] Driver 0: pos -9627, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16740, writes 0 timeouts 0
2025-04-29 06:19:23 [debug] Last sensors broadcast 0x00000000 found 0 140 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 99, 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 366, adv 36085/37111
2025-04-29 06:19:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2279
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10513, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:19:23 [info] currentZPosition:0.0137
2025-04-29 06:19:23 [debug] Stopped at height 0.014 mm
2025-04-29 06:19:25 [debug] Stopped at height 0.015 mm
2025-04-29 06:19:25 [debug] Diagnostics for board 50:
2025-04-29 06:19:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:19:25 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.4%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:07:16 ago, cause: software
2025-04-29 06:19:25 [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
2025-04-29 06:19:25 [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
2025-04-29 06:19:25 [debug] Moves scheduled 30369, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=486, frequency (Hz): min=1391, max=15306
Sync err accum 63, peak jitter -3/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 4294967244 ticks, disabled, next step interrupt due in 1064767354 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min
2025-04-29 06:19:25 [debug] Driver 0: pos -9617, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20410, writes 0 timeouts 0
2025-04-29 06:19:25 [debug] Last sensors broadcast 0x00000000 found 0 91 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 93, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36077/37127
2025-04-29 06:19:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10445, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2279
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:19:25 [info] currentZPosition:0.0147
2025-04-29 06:19:26 [debug] Stopped at height 0.015 mm
2025-04-29 06:19:26 [debug] Diagnostics for board 50:
2025-04-29 06:19:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:19:26 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:07:17 ago, cause: software
2025-04-29 06:19:26 [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
2025-04-29 06:19:26 [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
2025-04-29 06:19:26 [debug] Moves scheduled 30373, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=546, frequency (Hz): min=1339, max=15306
Sync err accum 80, peak jitter 2/4, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1063739217 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:19:26 [debug] Driver 0: pos -9619, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16192, writes 0 timeouts 0
2025-04-29 06:19:26 [debug] Last sensors broadcast 0x00000000 found 0 211 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 88, 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 346, adv 36099/37134
2025-04-29 06:19:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2280
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10450, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:19:26 [info] currentZPosition:0.0145
2025-04-29 06:19:27 [debug] Stopped at height 0.015 mm
2025-04-29 06:19:27 [debug] Diagnostics for board 50:
2025-04-29 06:19:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:19:27 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:07:19 ago, cause: software
2025-04-29 06:19:27 [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
2025-04-29 06:19:27 [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
2025-04-29 06:19:27 [debug] Moves scheduled 30377, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=657, frequency (Hz): min=1417, max=15306
Sync err accum 91, peak jitter 1/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1062681090 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:19:27 [debug] Driver 0: pos -9615, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16629, writes 0 timeouts 0
2025-04-29 06:19:27 [debug] Last sensors broadcast 0x00000000 found 0 125 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 88, 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 375, adv 36070/37121
2025-04-29 06:19:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10417, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:19:27 [info] currentZPosition:0.0149
2025-04-29 06:19:29 [debug] Stopped at height 0.014 mm
2025-04-29 06:19:29 [debug] Diagnostics for board 50:
2025-04-29 06:19:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:19:29 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.2%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:07:20 ago, cause: software
2025-04-29 06:19:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:19:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:19:29 [debug] Moves scheduled 30381, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=549, frequency (Hz): min=1506, max=15306
Sync err accum 100, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1061624245 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:19:29 [debug] Driver 0: pos -9628, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16462, writes 0 timeouts 0
2025-04-29 06:19:29 [debug] Last sensors broadcast 0x00000000 found 0 32 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 97, 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 375, adv 36102/37123
2025-04-29 06:19:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2279
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10488, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:19:29 [info] currentZPosition:0.0136
2025-04-29 06:19:29 [debug] Stopped at height 0.012 mm
2025-04-29 06:19:30 [debug] Stopped at height 0.015 mm
2025-04-29 06:19:30 [debug] Diagnostics for board 50:
2025-04-29 06:19:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:19:30 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.7%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:07:22 ago, cause: software
2025-04-29 06:19:30 [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
2025-04-29 06:19:30 [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
2025-04-29 06:19:30 [debug] Moves scheduled 30387, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=649, frequency (Hz): min=1290, max=15306
Sync err accum 103, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1060328489 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 06:19:30 [debug] Driver 0: pos -9616, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20393, writes 0 timeouts 0
2025-04-29 06:19:30 [debug] Last sensors broadcast 0x00000000 found 0 9 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 110, 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 378, adv 36022/37128
2025-04-29 06:19:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10419, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:19:31 [info] currentZPosition:0.0148
2025-04-29 06:19:31 [debug] Stopped at height 0.014 mm
2025-04-29 06:19:32 [debug] Stopped at height 0.015 mm
2025-04-29 06:19:32 [debug] Diagnostics for board 50:
2025-04-29 06:19:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:19:32 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.1%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:07:23 ago, cause: software
2025-04-29 06:19:32 [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
2025-04-29 06:19:32 [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
2025-04-29 06:19:32 [debug] Moves scheduled 30393, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=1036, frequency (Hz): min=877, max=15306
Sync err accum 101, peak jitter -1/0, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1059074590 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 06:19:32 [debug] Driver 0: pos -9613, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 19897, writes 0 timeouts 0
2025-04-29 06:19:32 [debug] Last sensors broadcast 0x00000000 found 0 183 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 104, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 36136/37130
2025-04-29 06:19:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2279
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10437, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:19:32 [info] currentZPosition:0.0152
2025-04-29 06:19:33 [debug] Stopped at height 0.014 mm
2025-04-29 06:19:34 [debug] Stopped at height 0.015 mm
2025-04-29 06:19:34 [debug] Diagnostics for board 50:
2025-04-29 06:19:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:19:34 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.7%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:07:25 ago, cause: software
2025-04-29 06:19:34 [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
2025-04-29 06:19:34 [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
2025-04-29 06:19:34 [debug] Moves scheduled 30399, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=892, frequency (Hz): min=1030, max=15306
Sync err accum 96, peak jitter -2/1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1057780124 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:19:34 [debug] Driver 0: pos -9612, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20583, writes 0 timeouts 0
2025-04-29 06:19:34 [debug] Last sensors broadcast 0x00000000 found 0 157 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 103, 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 362, adv 36075/37122
2025-04-29 06:19:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10423, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2280
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:19:34 [info] currentZPosition:0.0153
2025-04-29 06:19:34 [debug] Stopped at height 0.013 mm
2025-04-29 06:19:36 [debug] Stopped at height 0.016 mm
2025-04-29 06:19:36 [debug] Diagnostics for board 50:
2025-04-29 06:19:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:19:36 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:07:27 ago, cause: software
2025-04-29 06:19:36 [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
2025-04-29 06:19:36 [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
2025-04-29 06:19:36 [debug] Moves scheduled 30405, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=550, frequency (Hz): min=1279, max=15625
Sync err accum 85, peak jitter -2/-1, peak Rx delay 189, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1056527928 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatu
2025-04-29 06:19:36 [debug] Driver 0: pos -9605, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 19733, writes 0 timeouts 0
2025-04-29 06:19:36 [debug] Last sensors broadcast 0x00000000 found 0 75 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 109, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 392, adv 36229/37086
2025-04-29 06:19:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10436, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:19:36 [info] currentZPosition:0.0160
2025-04-29 06:19:36 [debug] Stopped at height 0.016 mm
2025-04-29 06:19:37 [debug] Stopped at height 0.013 mm
2025-04-29 06:19:37 [debug] Diagnostics for board 50:
2025-04-29 06:19:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:19:37 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:07:29 ago, cause: software
2025-04-29 06:19:37 [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
2025-04-29 06:19:37 [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
2025-04-29 06:19:37 [debug] Moves scheduled 30411, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 386, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=530, frequency (Hz): min=773, max=15306
Sync err accum 69, peak jitter -3/-1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1055180222 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:19:37 [debug] Driver 0: pos -9632, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 21431, writes 11 timeouts 1
2025-04-29 06:19:37 [debug] Last sensors broadcast 0x00000000 found 0 123 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 102, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 401, adv 36024/37127
2025-04-29 06:19:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2283
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10543, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:19:37 [info] currentZPosition:0.0133
2025-04-29 06:19:38 [debug] Stopped at height 0.012 mm
2025-04-29 06:19:39 [debug] Stopped at height 0.014 mm
2025-04-29 06:19:39 [debug] Diagnostics for board 50:
2025-04-29 06:19:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:19:39 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:07:30 ago, cause: software
2025-04-29 06:19:39 [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
2025-04-29 06:19:39 [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
2025-04-29 06:19:39 [debug] Moves scheduled 30417, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 316, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=568, frequency (Hz): min=1417, max=15306
Sync err accum 67, peak jitter -3/3, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 1053905366 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:19:39 [debug] Driver 0: pos -9630, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20058, writes 0 timeouts 0
2025-04-29 06:19:39 [debug] Last sensors broadcast 0x00000000 found 0 74 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 114, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36324/37128
2025-04-29 06:19:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10553, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2279
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:19:39 [info] currentZPosition:0.0135
2025-04-29 06:19:40 [debug] Stopped at height 0.015 mm
2025-04-29 06:19:40 [debug] Diagnostics for board 50:
2025-04-29 06:19:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:19:40 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 17:07:32 ago, cause: software
2025-04-29 06:19:40 [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
2025-04-29 06:19:40 [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
2025-04-29 06:19:40 [debug] Moves scheduled 30421, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=510, frequency (Hz): min=1482, max=15306
Sync err accum 79, peak jitter 1/3, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1052867750 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 06:19:40 [debug] Driver 0: pos -9616, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16370, writes 0 timeouts 0
2025-04-29 06:19:40 [debug] Last sensors broadcast 0x00000000 found 0 206 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 82, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36011/37109
2025-04-29 06:19:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10480, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4697, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:19:41 [info] currentZPosition:0.0149
2025-04-29 06:19:41 [debug] Stopped at height 0.015 mm
2025-04-29 06:19:42 [debug] Stopped at height 0.015 mm
2025-04-29 06:19:42 [debug] Diagnostics for board 50:
2025-04-29 06:19:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:19:42 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.5%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:07:33 ago, cause: software
2025-04-29 06:19:42 [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
2025-04-29 06:19:42 [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
2025-04-29 06:19:42 [debug] Moves scheduled 30427, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=605, frequency (Hz): min=1425, max=15306
Sync err accum 89, peak jitter 0/2, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 1051609404 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:19:42 [debug] Driver 0: pos -9615, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20081, writes 0 timeouts 0
2025-04-29 06:19:42 [debug] Last sensors broadcast 0x00000000 found 0 134 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 94, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36324/37091
2025-04-29 06:19:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10467, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:19:42 [info] currentZPosition:0.0150
2025-04-29 06:19:43 [debug] Stopped at height 0.015 mm
2025-04-29 06:19:43 [debug] Diagnostics for board 50:
2025-04-29 06:19:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:19:43 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:07:35 ago, cause: software
2025-04-29 06:19:43 [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
2025-04-29 06:19:43 [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
2025-04-29 06:19:43 [debug] Moves scheduled 30431, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=584, frequency (Hz): min=1425, max=15306
Sync err accum 93, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1050552840 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 06:19:43 [debug] Driver 0: pos -9611, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16686, writes 0 timeouts 0
2025-04-29 06:19:43 [debug] Last sensors broadcast 0x00000000 found 0 43 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 85, 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 385, adv 35959/37154
2025-04-29 06:19:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10431, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:19:44 [info] currentZPosition:0.0154
2025-04-29 06:19:45 [debug] Stopped at height 0.015 mm
2025-04-29 06:19:45 [debug] Diagnostics for board 50:
2025-04-29 06:19:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:19:45 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:07:36 ago, cause: software
2025-04-29 06:19:45 [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
2025-04-29 06:19:45 [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
2025-04-29 06:19:45 [debug] Moves scheduled 30435, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 162, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=556, frequency (Hz): min=1575, max=15306
Sync err accum 94, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1049505224 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:19:45 [debug] Driver 0: pos -9620, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16564, writes 0 timeouts 0
2025-04-29 06:19:45 [debug] Last sensors broadcast 0x00000000 found 0 189 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 84, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36313/37123
2025-04-29 06:19:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2280
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10476, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:19:45 [info] currentZPosition:0.0145
2025-04-29 06:19:46 [debug] Stopped at height 0.013 mm
2025-04-29 06:19:46 [debug] Diagnostics for board 50:
2025-04-29 06:19:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:19:46 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:07:38 ago, cause: software
2025-04-29 06:19:46 [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
2025-04-29 06:19:46 [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
2025-04-29 06:19:46 [debug] Moves scheduled 30439, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=546, frequency (Hz): min=1592, max=15306
Sync err accum 92, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 1048408119 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:19:46 [debug] Driver 0: pos -9636, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17215, writes 0 timeouts 0
2025-04-29 06:19:46 [debug] Last sensors broadcast 0x00000000 found 0 154 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 109, 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 378, adv 36015/37121
2025-04-29 06:19:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10573, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2285
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:19:46 [info] currentZPosition:0.0130
2025-04-29 06:19:47 [debug] Stopped at height 0.012 mm
2025-04-29 06:19:48 [debug] Stopped at height 0.015 mm
2025-04-29 06:19:48 [debug] Diagnostics for board 50:
2025-04-29 06:19:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:19:48 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.8%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:07:39 ago, cause: software
2025-04-29 06:19:48 [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
2025-04-29 06:19:48 [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
2025-04-29 06:19:48 [debug] Moves scheduled 30445, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 256, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=576, frequency (Hz): min=1518, max=15306
Sync err accum 83, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1047161711 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, ma
2025-04-29 06:19:48 [debug] Driver 0: pos -9619, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 19680, writes 0 timeouts 0
2025-04-29 06:19:48 [debug] Last sensors broadcast 0x00000000 found 0 66 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 105, 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 429, adv 36298/37084
2025-04-29 06:19:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10423, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4696, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:19:48 [info] currentZPosition:0.0147
2025-04-29 06:19:48 [debug] Stopped at height 0.013 mm
2025-04-29 06:19:50 [debug] Stopped at height 0.013 mm
2025-04-29 06:19:50 [debug] Diagnostics for board 50:
2025-04-29 06:19:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:19:50 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.2%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.2%
Owned mutexes:
Last reset 17:07:41 ago, cause: software
2025-04-29 06:19:50 [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
2025-04-29 06:19:50 [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
2025-04-29 06:19:50 [debug] Moves scheduled 30451, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 306, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=482, frequency (Hz): min=535, max=15306
Sync err accum 68, peak jitter -2/-1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1045828133 ticks, 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
2025-04-29 06:19:50 [debug] Driver 0: pos -9634, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20981, writes 22 timeouts 2
2025-04-29 06:19:50 [debug] Last sensors broadcast 0x00000000 found 0 95 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 126, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36027/37111
2025-04-29 06:19:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2281
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10574, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2282
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:19:50 [info] currentZPosition:0.0132
2025-04-29 06:19:51 [debug] Stopped at height 0.015 mm
2025-04-29 06:19:51 [debug] Diagnostics for board 50:
2025-04-29 06:19:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:19:51 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.6%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.8%
Owned mutexes:
Last reset 17:07:42 ago, cause: software
2025-04-29 06:19:51 [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
2025-04-29 06:19:51 [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
2025-04-29 06:19:51 [debug] Moves scheduled 30455, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 275, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=568, frequency (Hz): min=1491, max=15306
Sync err accum 63, peak jitter -3/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1044833519 ticks, 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
2025-04-29 06:19:51 [debug] Driver 0: pos -9613, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15505, writes 0 timeouts 0
2025-04-29 06:19:51 [debug] Last sensors broadcast 0x00000000 found 0 167 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 84, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36314/37108
2025-04-29 06:19:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10440, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2279
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:19:51 [info] currentZPosition:0.0154
2025-04-29 06:19:52 [debug] Stopped at height 0.014 mm
2025-04-29 06:19:53 [debug] Stopped at height 0.015 mm
2025-04-29 06:19:53 [debug] Diagnostics for board 50:
2025-04-29 06:19:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:19:53 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.9%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:07:44 ago, cause: software
2025-04-29 06:19:53 [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
2025-04-29 06:19:53 [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
2025-04-29 06:19:53 [debug] Moves scheduled 30461, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 306, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=614, frequency (Hz): min=1344, max=15306
Sync err accum 81, peak jitter 1/3, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1043525477 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:19:53 [debug] Driver 0: pos -9618, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20811, writes 0 timeouts 0
2025-04-29 06:19:53 [debug] Last sensors broadcast 0x00000000 found 0 163 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 105, 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 590, adv 36028/37109
2025-04-29 06:19:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10438, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2279
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:19:53 [info] currentZPosition:0.0149
2025-04-29 06:19:54 [debug] Stopped at height 0.016 mm
2025-04-29 06:19:54 [debug] Diagnostics for board 50:
2025-04-29 06:19:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:19:54 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.7%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:07:45 ago, cause: software
2025-04-29 06:19:54 [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
2025-04-29 06:19:54 [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
2025-04-29 06:19:54 [debug] Moves scheduled 30465, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=688, frequency (Hz): min=1262, max=15306
Sync err accum 92, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1042515383 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:19:54 [debug] Driver 0: pos -9607, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15890, writes 0 timeouts 0
2025-04-29 06:19:54 [debug] Last sensors broadcast 0x00000000 found 0 8 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 81, 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 496, adv 36312/37111
2025-04-29 06:19:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10428, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:19:54 [info] currentZPosition:0.0160
2025-04-29 06:19:56 [debug] Stopped at height 0.015 mm
2025-04-29 06:19:56 [debug] Diagnostics for board 50:
2025-04-29 06:19:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:19:56 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:07:47 ago, cause: software
2025-04-29 06:19:56 [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
2025-04-29 06:19:56 [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
2025-04-29 06:19:56 [debug] Moves scheduled 30469, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=549, frequency (Hz): min=779, max=15306
Sync err accum 101, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1041442105 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 06:19:56 [debug] Driver 0: pos -9614, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17041, writes 11 timeouts 1
2025-04-29 06:19:56 [debug] Last sensors broadcast 0x00000000 found 0 191 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 81, 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 439, adv 36027/37069
2025-04-29 06:19:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10461, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:19:56 [info] currentZPosition:0.0153
2025-04-29 06:19:57 [debug] Stopped at height 0.015 mm
2025-04-29 06:19:57 [debug] Diagnostics for board 50:
2025-04-29 06:19:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:19:57 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:07:48 ago, cause: software
2025-04-29 06:19:57 [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
2025-04-29 06:19:57 [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
2025-04-29 06:19:57 [debug] Moves scheduled 30473, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=674, frequency (Hz): min=1376, max=15306
Sync err accum 104, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1040405572 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:19:57 [debug] Driver 0: pos -9616, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16332, writes 0 timeouts 0
2025-04-29 06:19:57 [debug] Last sensors broadcast 0x00000000 found 0 75 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 88, 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 396, adv 36311/37092
2025-04-29 06:19:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2280
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10455, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:19:57 [info] currentZPosition:0.0151
2025-04-29 06:19:58 [debug] Stopped at height 0.015 mm
2025-04-29 06:19:58 [debug] Diagnostics for board 50:
2025-04-29 06:19:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:19:58 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:07:50 ago, cause: software
2025-04-29 06:19:58 [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
2025-04-29 06:19:58 [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
2025-04-29 06:19:58 [debug] Moves scheduled 30477, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=617, frequency (Hz): min=1412, max=15306
Sync err accum 104, peak jitter -1/1, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1039341493 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, ma
2025-04-29 06:19:58 [debug] Driver 0: pos -9616, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16832, writes 0 timeouts 0
2025-04-29 06:19:58 [debug] Last sensors broadcast 0x00000000 found 0 242 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 85, 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 402, adv 36041/37118
2025-04-29 06:19:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10441, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2279
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:19:59 [info] currentZPosition:0.0151
2025-04-29 06:20:00 [debug] Stopped at height 0.016 mm
2025-04-29 06:20:00 [debug] Diagnostics for board 50:
2025-04-29 06:20:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:20:00 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:07:51 ago, cause: software
2025-04-29 06:20:00 [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
2025-04-29 06:20:00 [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
2025-04-29 06:20:00 [debug] Moves scheduled 30481, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 393, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=544, frequency (Hz): min=1445, max=15306
Sync err accum 98, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1038324150 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:20:00 [debug] Driver 0: pos -9610, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16063, writes 0 timeouts 0
2025-04-29 06:20:00 [debug] Last sensors broadcast 0x00000000 found 0 97 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 80, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 335, adv 36351/37133
2025-04-29 06:20:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10456, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:20:00 [info] currentZPosition:0.0157
2025-04-29 06:20:01 [debug] Stopped at height 0.016 mm
2025-04-29 06:20:01 [debug] Diagnostics for board 50:
2025-04-29 06:20:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:20:01 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:07:52 ago, cause: software
2025-04-29 06:20:01 [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
2025-04-29 06:20:01 [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
2025-04-29 06:20:01 [debug] Moves scheduled 30485, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=609, frequency (Hz): min=1500, max=15306
Sync err accum 91, peak jitter -2/0, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1037269009 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:20:01 [debug] Driver 0: pos -9609, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16730, writes 0 timeouts 0
2025-04-29 06:20:01 [debug] Last sensors broadcast 0x00000000 found 0 8 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 83, 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 397, adv 36022/37072
2025-04-29 06:20:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10435, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:20:01 [info] currentZPosition:0.0158
2025-04-29 06:20:03 [debug] Stopped at height 0.015 mm
2025-04-29 06:20:03 [debug] Diagnostics for board 50:
2025-04-29 06:20:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:20:03 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:07:54 ago, cause: software
2025-04-29 06:20:03 [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
2025-04-29 06:20:03 [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
2025-04-29 06:20:03 [debug] Moves scheduled 30489, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 268, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=706, frequency (Hz): min=1203, max=15306
Sync err accum 82, peak jitter -2/-1, peak Rx delay 207, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1036226546 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, ma
2025-04-29 06:20:03 [debug] Driver 0: pos -9617, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16457, writes 0 timeouts 0
2025-04-29 06:20:03 [debug] Last sensors broadcast 0x00000000 found 0 144 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 81, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36347/37107
2025-04-29 06:20:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10477, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:20:03 [info] currentZPosition:0.0150
2025-04-29 06:20:04 [debug] Stopped at height 0.015 mm
2025-04-29 06:20:04 [debug] Diagnostics for board 50:
2025-04-29 06:20:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:20:04 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:07:55 ago, cause: software
2025-04-29 06:20:04 [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
2025-04-29 06:20:04 [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
2025-04-29 06:20:04 [debug] Moves scheduled 30493, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=574, frequency (Hz): min=1327, max=15625
Sync err accum 67, peak jitter -3/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1035173199 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatu
2025-04-29 06:20:04 [debug] Driver 0: pos -9613, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16643, writes 0 timeouts 0
2025-04-29 06:20:04 [debug] Last sensors broadcast 0x00000000 found 0 49 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 85, 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 366, adv 36078/37130
2025-04-29 06:20:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10473, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:20:04 [info] currentZPosition:0.0154
2025-04-29 06:20:05 [debug] Stopped at height 0.016 mm
2025-04-29 06:20:05 [debug] Diagnostics for board 50:
2025-04-29 06:20:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:20:05 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:07:57 ago, cause: software
2025-04-29 06:20:05 [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
2025-04-29 06:20:05 [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
2025-04-29 06:20:05 [debug] Moves scheduled 30497, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=482, frequency (Hz): min=1503, max=15306
Sync err accum 63, peak jitter -3/1, peak Rx delay 171, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1034154153 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max
2025-04-29 06:20:05 [debug] Driver 0: pos -9610, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16083, writes 0 timeouts 0
2025-04-29 06:20:05 [debug] Last sensors broadcast 0x00000000 found 0 161 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 78, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36380/37101
2025-04-29 06:20:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10419, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:20:05 [info] currentZPosition:0.0157
2025-04-29 06:20:07 [debug] Stopped at height 0.016 mm
2025-04-29 06:20:07 [debug] Diagnostics for board 50:
2025-04-29 06:20:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:20:07 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:07:58 ago, cause: software
2025-04-29 06:20:07 [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
2025-04-29 06:20:07 [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
2025-04-29 06:20:07 [debug] Moves scheduled 30501, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=552, frequency (Hz): min=1602, max=15306
Sync err accum 74, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 1033088117 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:20:07 [debug] Driver 0: pos -9610, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16813, writes 0 timeouts 0
2025-04-29 06:20:07 [debug] Last sensors broadcast 0x00000000 found 0 80 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 80, 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 359, adv 36055/37116
2025-04-29 06:20:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10392, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:20:07 [info] currentZPosition:0.0157
2025-04-29 06:20:08 [debug] Stopped at height 0.016 mm
2025-04-29 06:20:08 [debug] Diagnostics for board 50:
2025-04-29 06:20:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:20:08 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:07:59 ago, cause: software
2025-04-29 06:20:08 [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
2025-04-29 06:20:08 [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
2025-04-29 06:20:08 [debug] Moves scheduled 30505, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 164, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=608, frequency (Hz): min=1512, max=15306
Sync err accum 81, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1032069889 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:20:08 [debug] Driver 0: pos -9606, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16097, writes 0 timeouts 0
2025-04-29 06:20:08 [debug] Last sensors broadcast 0x00000000 found 0 188 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 78, 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 372, adv 36330/37103
2025-04-29 06:20:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10415, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:20:08 [info] currentZPosition:0.0161
2025-04-29 06:20:10 [debug] Stopped at height 0.015 mm
2025-04-29 06:20:10 [debug] Diagnostics for board 50:
2025-04-29 06:20:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:20:10 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:08:01 ago, cause: software
2025-04-29 06:20:10 [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
2025-04-29 06:20:10 [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
2025-04-29 06:20:10 [debug] Moves scheduled 30509, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=521, frequency (Hz): min=1630, max=15306
Sync err accum 86, peak jitter 0/2, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1030985958 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:20:10 [debug] Driver 0: pos -9618, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17178, writes 0 timeouts 0
2025-04-29 06:20:10 [debug] Last sensors broadcast 0x00000000 found 0 134 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 84, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36026/37095
2025-04-29 06:20:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2279
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10478, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:20:10 [info] currentZPosition:0.0150
2025-04-29 06:20:11 [debug] Stopped at height 0.015 mm
2025-04-29 06:20:11 [debug] Diagnostics for board 50:
2025-04-29 06:20:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:20:11 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 17:08:02 ago, cause: software
2025-04-29 06:20:11 [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
2025-04-29 06:20:11 [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
2025-04-29 06:20:11 [debug] Moves scheduled 30513, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=693, frequency (Hz): min=777, max=15306
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 1029966073 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:20:11 [debug] Driver 0: pos -9614, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16089, writes 11 timeouts 1
2025-04-29 06:20:11 [debug] Last sensors broadcast 0x00000000 found 0 241 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 82, 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 367, adv 36341/37118
2025-04-29 06:20:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10441, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2279
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:20:11 [info] currentZPosition:0.0154
2025-04-29 06:20:12 [debug] Stopped at height 0.016 mm
2025-04-29 06:20:12 [debug] Diagnostics for board 50:
2025-04-29 06:20:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:20:12 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:08:04 ago, cause: software
2025-04-29 06:20:12 [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
2025-04-29 06:20:12 [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
2025-04-29 06:20:12 [debug] Moves scheduled 30517, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=697, frequency (Hz): min=1351, max=15625
Sync err accum 83, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1028914136 ticks, 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
2025-04-29 06:20:12 [debug] Driver 0: pos -9609, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16617, writes 0 timeouts 0
2025-04-29 06:20:12 [debug] Last sensors broadcast 0x00000000 found 0 144 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 80, 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 451, adv 35994/37157
2025-04-29 06:20:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10419, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:20:12 [info] currentZPosition:0.0159
2025-04-29 06:20:14 [debug] Stopped at height 0.016 mm
2025-04-29 06:20:14 [debug] Diagnostics for board 50:
2025-04-29 06:20:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:20:14 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:08:05 ago, cause: software
2025-04-29 06:20:14 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:20:14 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:20:14 [debug] Moves scheduled 30521, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 428, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=745, frequency (Hz): min=1213, max=15306
Sync err accum 77, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1027880720 ticks, 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
2025-04-29 06:20:14 [debug] Driver 0: pos -9613, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16330, writes 0 timeouts 0
2025-04-29 06:20:14 [debug] Last sensors broadcast 0x00000000 found 0 24 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 80, 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 375, adv 36347/37121
2025-04-29 06:20:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10425, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:20:14 [info] currentZPosition:0.0155
2025-04-29 06:20:15 [debug] Stopped at height 0.016 mm
2025-04-29 06:20:15 [debug] Diagnostics for board 50:
2025-04-29 06:20:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:20:15 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:08:06 ago, cause: software
2025-04-29 06:20:15 [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
2025-04-29 06:20:15 [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
2025-04-29 06:20:15 [debug] Moves scheduled 30525, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 372, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=520, frequency (Hz): min=1344, max=15306
Sync err accum 69, peak jitter -2/-1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1026817383 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperatu
2025-04-29 06:20:15 [debug] Driver 0: pos -9613, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16769, writes 0 timeouts 0
2025-04-29 06:20:15 [debug] Last sensors broadcast 0x00000000 found 0 191 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 84, 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 371, adv 36022/37095
2025-04-29 06:20:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2280
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10428, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:20:15 [info] currentZPosition:0.0155
2025-04-29 06:20:17 [debug] Stopped at height 0.015 mm
2025-04-29 06:20:17 [debug] Diagnostics for board 50:
2025-04-29 06:20:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:20:17 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:08:08 ago, cause: software
2025-04-29 06:20:17 [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
2025-04-29 06:20:17 [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
2025-04-29 06:20:17 [debug] Moves scheduled 30529, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=637, frequency (Hz): min=1239, max=15625
Sync err accum 61, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1025786116 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max
2025-04-29 06:20:17 [debug] Driver 0: pos -9616, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16228, writes 0 timeouts 0
2025-04-29 06:20:17 [debug] Last sensors broadcast 0x00000000 found 0 65 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 84, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36382/37121
2025-04-29 06:20:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2281
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10449, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:20:17 [info] currentZPosition:0.0153
2025-04-29 06:20:18 [debug] Stopped at height 0.016 mm
2025-04-29 06:20:18 [debug] Diagnostics for board 50:
2025-04-29 06:20:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:20:18 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:08:09 ago, cause: software
2025-04-29 06:20:18 [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
2025-04-29 06:20:18 [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
2025-04-29 06:20:18 [debug] Moves scheduled 30533, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=684, frequency (Hz): min=1217, max=15306
Sync err accum 72, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1024729140 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 06:20:18 [debug] Driver 0: pos -9614, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16682, writes 0 timeouts 0
2025-04-29 06:20:18 [debug] Last sensors broadcast 0x00000000 found 0 227 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 85, 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 385, adv 36017/37128
2025-04-29 06:20:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10442, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2279
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:20:18 [info] currentZPosition:0.0156
2025-04-29 06:20:19 [debug] Stopped at height 0.016 mm
2025-04-29 06:20:19 [debug] Diagnostics for board 50:
2025-04-29 06:20:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:20:19 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:08:11 ago, cause: software
2025-04-29 06:20:19 [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
2025-04-29 06:20:19 [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
2025-04-29 06:20:19 [debug] Moves scheduled 30537, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=668, frequency (Hz): min=1117, max=15306
Sync err accum 79, peak jitter 1/2, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1023698989 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:20:19 [debug] Driver 0: pos -9614, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16212, writes 0 timeouts 0
2025-04-29 06:20:19 [debug] Last sensors broadcast 0x00000000 found 0 98 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 86, 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 472, adv 36308/37098
2025-04-29 06:20:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2279
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10425, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:20:19 [info] currentZPosition:0.0156
2025-04-29 06:20:21 [debug] Stopped at height 0.014 mm
2025-04-29 06:20:21 [debug] Diagnostics for board 50:
2025-04-29 06:20:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:20:21 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.8%
Owned mutexes:
Last reset 17:08:12 ago, cause: software
2025-04-29 06:20:21 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:20:21 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:20:21 [debug] Moves scheduled 30541, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 324, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=510, frequency (Hz): min=916, max=15306
Sync err accum 80, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1022593257 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 06:20:21 [debug] Driver 0: pos -9634, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17353, writes 11 timeouts 1
2025-04-29 06:20:21 [debug] Last sensors broadcast 0x00000000 found 0 71 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 100, 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 372, adv 36019/37126
2025-04-29 06:20:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2285
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10573, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4695, no error
Lin: Encoder reverse polarity: no, raw count 2279
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:20:21 [info] currentZPosition:0.0136
2025-04-29 06:20:21 [debug] Stopped at height 0.013 mm
2025-04-29 06:20:22 [debug] Stopped at height 0.015 mm
2025-04-29 06:20:22 [debug] Diagnostics for board 50:
2025-04-29 06:20:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:20:22 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.1%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.2%
Owned mutexes:
Last reset 17:08:14 ago, cause: software
2025-04-29 06:20:22 [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
2025-04-29 06:20:22 [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
2025-04-29 06:20:22 [debug] Moves scheduled 30547, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 668, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=550, frequency (Hz): min=1530, max=15306
Sync err accum 79, peak jitter -1/0, peak Rx delay 185, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1021353679 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.6C, max
2025-04-29 06:20:22 [debug] Driver 0: pos -9619, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 19729, writes 0 timeouts 0
2025-04-29 06:20:22 [debug] Last sensors broadcast 0x00000000 found 0 226 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 94, 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 424, adv 36305/37134
2025-04-29 06:20:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10422, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:20:23 [info] currentZPosition:0.0151
2025-04-29 06:20:23 [debug] Stopped at height 0.014 mm
2025-04-29 06:20:24 [debug] Stopped at height 0.016 mm
2025-04-29 06:20:24 [debug] Diagnostics for board 50:
2025-04-29 06:20:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:20:24 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.5%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:08:15 ago, cause: software
2025-04-29 06:20:24 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:20:24 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:20:24 [debug] Moves scheduled 30553, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 444, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=481, frequency (Hz): min=1575, max=15000
Sync err accum 72, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 1020072090 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:20:24 [debug] Driver 0: pos -9612, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20406, writes 0 timeouts 0
2025-04-29 06:20:24 [debug] Last sensors broadcast 0x00000000 found 0 184 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 102, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36008/37132
2025-04-29 06:20:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10440, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2279
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:20:24 [info] currentZPosition:0.0158
2025-04-29 06:20:25 [debug] Stopped at height 0.015 mm
2025-04-29 06:20:26 [debug] Stopped at height 0.014 mm
2025-04-29 06:20:26 [debug] Diagnostics for board 50:
2025-04-29 06:20:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:20:26 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.9%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:08:17 ago, cause: software
2025-04-29 06:20:26 [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
2025-04-29 06:20:26 [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
2025-04-29 06:20:26 [debug] Moves scheduled 30559, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=638, frequency (Hz): min=1334, max=15306
Sync err accum 63, peak jitter -2/1, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1018775893 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:20:26 [debug] Driver 0: pos -9629, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20559, writes 0 timeouts 0
2025-04-29 06:20:26 [debug] Last sensors broadcast 0x00000000 found 0 163 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 117, 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 405, adv 36338/37108
2025-04-29 06:20:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10542, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2284
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:20:26 [info] currentZPosition:0.0141
2025-04-29 06:20:27 [debug] Stopped at height 0.014 mm
2025-04-29 06:20:27 [debug] Diagnostics for board 50:
2025-04-29 06:20:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:20:27 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.0%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:08:19 ago, cause: software
2025-04-29 06:20:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:20:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:20:27 [debug] Moves scheduled 30563, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 259, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=668, frequency (Hz): min=878, max=15306
Sync err accum 70, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 1017707260 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, curr
2025-04-29 06:20:27 [debug] Driver 0: pos -9631, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16701, writes 11 timeouts 1
2025-04-29 06:20:27 [debug] Last sensors broadcast 0x00000000 found 0 88 ticks ago, 0 ordering errs, loop time 2
CAN messages queued 102, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36027/37122
2025-04-29 06:20:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2283
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10553, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:20:27 [info] currentZPosition:0.0139
2025-04-29 06:20:29 [debug] Stopped at height 0.016 mm
2025-04-29 06:20:29 [debug] Diagnostics for board 50:
2025-04-29 06:20:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:20:29 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.7%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:08:20 ago, cause: software
2025-04-29 06:20:29 [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
2025-04-29 06:20:29 [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
2025-04-29 06:20:29 [debug] Moves scheduled 30567, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=710, frequency (Hz): min=1282, max=15306
Sync err accum 72, peak jitter 0/1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 1016722908 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:20:29 [debug] Driver 0: pos -9607, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15517, writes 0 timeouts 0
2025-04-29 06:20:29 [debug] Last sensors broadcast 0x00000000 found 0 150 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 79, 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 385, adv 36338/37114
2025-04-29 06:20:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10435, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:20:29 [info] currentZPosition:0.0163
2025-04-29 06:20:29 [debug] Stopped at height 0.015 mm
2025-04-29 06:20:30 [debug] Stopped at height 0.016 mm
2025-04-29 06:20:30 [debug] Diagnostics for board 50:
2025-04-29 06:20:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:20:30 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 17:08:22 ago, cause: software
2025-04-29 06:20:30 [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
2025-04-29 06:20:30 [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
2025-04-29 06:20:30 [debug] Moves scheduled 30573, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=509, frequency (Hz): min=1401, max=15625
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 1015411201 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:20:30 [debug] Driver 0: pos -9614, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20963, writes 0 timeouts 0
2025-04-29 06:20:30 [debug] Last sensors broadcast 0x00000000 found 0 149 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 103, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36007/37142
2025-04-29 06:20:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10413, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:20:30 [info] currentZPosition:0.0156
2025-04-29 06:20:32 [debug] Stopped at height 0.015 mm
2025-04-29 06:20:32 [debug] Diagnostics for board 50:
2025-04-29 06:20:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:20:32 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:08:23 ago, cause: software
2025-04-29 06:20:32 [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
2025-04-29 06:20:32 [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
2025-04-29 06:20:32 [debug] Moves scheduled 30577, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=521, frequency (Hz): min=1447, max=15306
Sync err accum 67, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1014380259 ticks, 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
2025-04-29 06:20:32 [debug] Driver 0: pos -9616, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16251, writes 0 timeouts 0
2025-04-29 06:20:32 [debug] Last sensors broadcast 0x00000000 found 0 22 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 87, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 373, adv 36243/37153
2025-04-29 06:20:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10426, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4697, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:20:32 [info] currentZPosition:0.0154
2025-04-29 06:20:33 [debug] Stopped at height 0.016 mm
2025-04-29 06:20:33 [debug] Diagnostics for board 50:
2025-04-29 06:20:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:20:33 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 17:08:24 ago, cause: software
2025-04-29 06:20:33 [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
2025-04-29 06:20:33 [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
2025-04-29 06:20:33 [debug] Moves scheduled 30581, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 847, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=538, frequency (Hz): min=1376, max=15306
Sync err accum 64, peak jitter -2/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 1013321778 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:20:33 [debug] Driver 0: pos -9615, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16719, writes 0 timeouts 0
2025-04-29 06:20:33 [debug] Last sensors broadcast 0x00000000 found 0 184 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 85, 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 475, adv 36045/37090
2025-04-29 06:20:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10417, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:20:33 [info] currentZPosition:0.0155
2025-04-29 06:20:34 [debug] Stopped at height 0.016 mm
2025-04-29 06:20:34 [debug] Diagnostics for board 50:
2025-04-29 06:20:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:20:34 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:08:26 ago, cause: software
2025-04-29 06:20:34 [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
2025-04-29 06:20:34 [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
2025-04-29 06:20:34 [debug] Moves scheduled 30585, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 306, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=486, frequency (Hz): min=1308, max=15306
Sync err accum 67, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1012296848 ticks, 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
2025-04-29 06:20:34 [debug] Driver 0: pos -9615, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16134, writes 0 timeouts 0
2025-04-29 06:20:34 [debug] Last sensors broadcast 0x00000000 found 0 50 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 83, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36111/37090
2025-04-29 06:20:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10458, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:20:35 [info] currentZPosition:0.0156
2025-04-29 06:20:36 [debug] Stopped at height 0.016 mm
2025-04-29 06:20:36 [debug] Diagnostics for board 50:
2025-04-29 06:20:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:20:36 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:08:27 ago, cause: software
2025-04-29 06:20:36 [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
2025-04-29 06:20:36 [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
2025-04-29 06:20:36 [debug] Moves scheduled 30589, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 309, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=524, frequency (Hz): min=1186, max=15306
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 1011234209 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:20:36 [debug] Driver 0: pos -9616, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16890, writes 0 timeouts 0
2025-04-29 06:20:36 [debug] Last sensors broadcast 0x00000000 found 0 217 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 85, 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 381, adv 35997/37150
2025-04-29 06:20:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10434, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:20:36 [info] currentZPosition:0.0155
2025-04-29 06:20:37 [debug] Stopped at height 0.015 mm
2025-04-29 06:20:37 [debug] Diagnostics for board 50:
2025-04-29 06:20:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:20:37 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:08:29 ago, cause: software
2025-04-29 06:20:37 [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
2025-04-29 06:20:37 [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
2025-04-29 06:20:37 [debug] Moves scheduled 30593, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 386, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=812, frequency (Hz): min=903, max=15306
Sync err accum 63, peak jitter -1/0, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 1010200800 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:20:37 [debug] Driver 0: pos -9621, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16247, writes 11 timeouts 1
2025-04-29 06:20:37 [debug] Last sensors broadcast 0x00000000 found 0 95 ticks ago, 0 ordering errs, loop time 2
CAN messages queued 92, 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 377, adv 36157/37121
2025-04-29 06:20:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10461, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4694, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:20:37 [info] currentZPosition:0.0150
2025-04-29 06:20:39 [debug] Stopped at height 0.015 mm
2025-04-29 06:20:39 [debug] Diagnostics for board 50:
2025-04-29 06:20:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:20:39 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:08:30 ago, cause: software
2025-04-29 06:20:39 [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
2025-04-29 06:20:39 [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
2025-04-29 06:20:39 [debug] Moves scheduled 30597, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=741, frequency (Hz): min=1235, max=15306
Sync err accum 68, peak jitter -1/2, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1009134130 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max
2025-04-29 06:20:39 [debug] Driver 0: pos -9622, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16838, writes 0 timeouts 0
2025-04-29 06:20:39 [debug] Last sensors broadcast 0x00000000 found 0 18 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 90, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 36008/37115
2025-04-29 06:20:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10470, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4697, no error
Lin: Encoder reverse polarity: no, raw count 2279
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:20:39 [info] currentZPosition:0.0149
2025-04-29 06:20:40 [debug] Stopped at height 0.016 mm
2025-04-29 06:20:40 [debug] Diagnostics for board 50:
2025-04-29 06:20:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:20:40 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:08:31 ago, cause: software
2025-04-29 06:20:40 [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
2025-04-29 06:20:40 [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
2025-04-29 06:20:40 [debug] Moves scheduled 30601, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 162, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=701, frequency (Hz): min=1269, max=15306
Sync err accum 76, peak jitter 0/2, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 1008118561 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:20:40 [debug] Driver 0: pos -9616, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16002, writes 0 timeouts 0
2025-04-29 06:20:40 [debug] Last sensors broadcast 0x00000000 found 0 121 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 83, 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 396, adv 36102/37105
2025-04-29 06:20:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10442, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2280
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:20:40 [info] currentZPosition:0.0155
2025-04-29 06:20:41 [debug] Stopped at height 0.016 mm
2025-04-29 06:20:41 [debug] Diagnostics for board 50:
2025-04-29 06:20:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:20:41 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:08:33 ago, cause: software
2025-04-29 06:20:41 [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
2025-04-29 06:20:41 [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
2025-04-29 06:20:41 [debug] Moves scheduled 30605, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=670, frequency (Hz): min=515, max=15306
Sync err accum 81, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1007072946 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 3
2025-04-29 06:20:41 [debug] Driver 0: pos -9608, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16493, writes 11 timeouts 1
2025-04-29 06:20:41 [debug] Last sensors broadcast 0x00000000 found 0 17 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 84, 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 373, adv 36043/37092
2025-04-29 06:20:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10399, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:20:42 [info] currentZPosition:0.0163
2025-04-29 06:20:43 [debug] Stopped at height 0.015 mm
2025-04-29 06:20:43 [debug] Diagnostics for board 50:
2025-04-29 06:20:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:20:43 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:08:34 ago, cause: software
2025-04-29 06:20:43 [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
2025-04-29 06:20:43 [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
2025-04-29 06:20:43 [debug] Moves scheduled 30609, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 324, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=516, frequency (Hz): min=1674, max=15306
Sync err accum 83, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1006016958 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:20:43 [debug] Driver 0: pos -9624, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16642, writes 0 timeouts 0
2025-04-29 06:20:43 [debug] Last sensors broadcast 0x00000000 found 0 175 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 88, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36068/37161
2025-04-29 06:20:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10490, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:20:43 [info] currentZPosition:0.0147
2025-04-29 06:20:43 [debug] Stopped at height 0.014 mm
2025-04-29 06:20:45 [debug] Stopped at height 0.016 mm
2025-04-29 06:20:45 [debug] Diagnostics for board 50:
2025-04-29 06:20:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:20:45 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 17:08:36 ago, cause: software
2025-04-29 06:20:45 [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
2025-04-29 06:20:45 [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
2025-04-29 06:20:45 [debug] Moves scheduled 30615, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=602, frequency (Hz): min=1217, max=15625
Sync err accum 77, peak jitter -2/0, peak Rx delay 189, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 1004736243 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max
2025-04-29 06:20:45 [debug] Driver 0: pos -9609, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20289, writes 0 timeouts 0
2025-04-29 06:20:45 [debug] Last sensors broadcast 0x00000000 found 0 132 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 96, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36074/37160
2025-04-29 06:20:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10410, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:20:45 [info] currentZPosition:0.0162
2025-04-29 06:20:45 [debug] Stopped at height 0.016 mm
2025-04-29 06:20:46 [debug] Stopped at height 0.016 mm
2025-04-29 06:20:46 [debug] Diagnostics for board 50:
2025-04-29 06:20:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:20:46 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.5%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:08:38 ago, cause: software
2025-04-29 06:20:46 [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
2025-04-29 06:20:46 [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
2025-04-29 06:20:46 [debug] Moves scheduled 30621, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 383, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=680, frequency (Hz): min=726, max=15306
Sync err accum 68, peak jitter -2/0, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 1003473809 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:20:46 [debug] Driver 0: pos -9610, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20113, writes 11 timeouts 1
2025-04-29 06:20:46 [debug] Last sensors broadcast 0x00000000 found 0 64 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 89, 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 378, adv 36082/37085
2025-04-29 06:20:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10406, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:20:46 [info] currentZPosition:0.0163
2025-04-29 06:20:48 [debug] Stopped at height 0.017 mm
2025-04-29 06:20:48 [debug] Diagnostics for board 50:
2025-04-29 06:20:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:20:48 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:08:39 ago, cause: software
2025-04-29 06:20:48 [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
2025-04-29 06:20:48 [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
2025-04-29 06:20:48 [debug] Moves scheduled 30625, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=604, frequency (Hz): min=771, max=15625
Sync err accum 64, peak jitter -2/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 1002416844 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 06:20:48 [debug] Driver 0: pos -9608, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16697, writes 11 timeouts 1
2025-04-29 06:20:48 [debug] Last sensors broadcast 0x00000000 found 0 223 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 78, 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 388, adv 36017/37081
2025-04-29 06:20:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10421, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:20:48 [info] currentZPosition:0.0165
2025-04-29 06:20:49 [debug] Stopped at height 0.016 mm
2025-04-29 06:20:49 [debug] Diagnostics for board 50:
2025-04-29 06:20:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:20:49 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:08:40 ago, cause: software
2025-04-29 06:20:49 [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
2025-04-29 06:20:49 [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
2025-04-29 06:20:49 [debug] Moves scheduled 30629, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=418, frequency (Hz): min=567, max=15306
Sync err accum 75, peak jitter 1/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 1001389712 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, curr
2025-04-29 06:20:49 [debug] Driver 0: pos -9610, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16241, writes 11 timeouts 1
2025-04-29 06:20:49 [debug] Last sensors broadcast 0x00000000 found 0 94 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 80, 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 406, adv 36051/37150
2025-04-29 06:20:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10440, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:20:49 [info] currentZPosition:0.0163
2025-04-29 06:20:50 [debug] Stopped at height 0.016 mm
2025-04-29 06:20:50 [debug] Diagnostics for board 50:
2025-04-29 06:20:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:20:50 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:08:42 ago, cause: software
2025-04-29 06:20:50 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:20:50 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:20:50 [debug] Moves scheduled 30633, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=554, frequency (Hz): min=1559, max=15625
Sync err accum 85, peak jitter 1/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 1000330628 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:20:50 [debug] Driver 0: pos -9611, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16794, writes 0 timeouts 0
2025-04-29 06:20:50 [debug] Last sensors broadcast 0x00000000 found 0 6 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 81, 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 366, adv 36053/37136
2025-04-29 06:20:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10423, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2279
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:20:51 [info] currentZPosition:0.0162
2025-04-29 06:20:52 [debug] Stopped at height 0.016 mm
2025-04-29 06:20:52 [debug] Diagnostics for board 50:
2025-04-29 06:20:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:20:52 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:08:43 ago, cause: software
2025-04-29 06:20:52 [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
2025-04-29 06:20:52 [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
2025-04-29 06:20:52 [debug] Moves scheduled 30637, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=560, frequency (Hz): min=1616, max=15306
Sync err accum 91, peak jitter 0/1, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 999294436 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 3
2025-04-29 06:20:52 [debug] Driver 0: pos -9616, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16349, writes 0 timeouts 0
2025-04-29 06:20:52 [debug] Last sensors broadcast 0x00000000 found 0 137 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 81, 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 377, adv 36146/37112
2025-04-29 06:20:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10458, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:20:52 [info] currentZPosition:0.0158
2025-04-29 06:20:53 [debug] Stopped at height 0.016 mm
2025-04-29 06:20:53 [debug] Diagnostics for board 50:
2025-04-29 06:20:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:20:53 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.2%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:08:45 ago, cause: software
2025-04-29 06:20:53 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:20:53 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:20:53 [debug] Moves scheduled 30641, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=737, frequency (Hz): min=629, max=15306
Sync err accum 92, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 998233593 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, curre
2025-04-29 06:20:53 [debug] Driver 0: pos -9615, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16758, writes 11 timeouts 1
2025-04-29 06:20:53 [debug] Last sensors broadcast 0x00000000 found 0 52 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 85, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36005/37098
2025-04-29 06:20:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10471, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:20:53 [info] currentZPosition:0.0159
2025-04-29 06:20:55 [debug] Stopped at height 0.016 mm
2025-04-29 06:20:55 [debug] Diagnostics for board 50:
2025-04-29 06:20:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:20:55 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:08:46 ago, cause: software
2025-04-29 06:20:55 [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
2025-04-29 06:20:55 [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
2025-04-29 06:20:55 [debug] Moves scheduled 30645, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=609, frequency (Hz): min=1476, max=15306
Sync err accum 91, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 997210700 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 06:20:55 [debug] Driver 0: pos -9612, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16163, writes 0 timeouts 0
2025-04-29 06:20:55 [debug] Last sensors broadcast 0x00000000 found 0 167 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 83, 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 380, adv 36093/37127
2025-04-29 06:20:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10460, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:20:55 [info] currentZPosition:0.0162
2025-04-29 06:20:56 [debug] Stopped at height 0.016 mm
2025-04-29 06:20:56 [debug] Diagnostics for board 50:
2025-04-29 06:20:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:20:56 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.0%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:08:47 ago, cause: software
2025-04-29 06:20:56 [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
2025-04-29 06:20:56 [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
2025-04-29 06:20:56 [debug] Moves scheduled 30649, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=464, frequency (Hz): min=1833, max=15625
Sync err accum 86, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 996147355 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:20:56 [debug] Driver 0: pos -9614, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16863, writes 0 timeouts 0
2025-04-29 06:20:56 [debug] Last sensors broadcast 0x00000000 found 0 86 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 82, 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 368, adv 36080/37141
2025-04-29 06:20:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10473, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:20:56 [info] currentZPosition:0.0161
2025-04-29 06:20:57 [debug] Stopped at height 0.015 mm
2025-04-29 06:20:57 [debug] Diagnostics for board 50:
2025-04-29 06:20:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:20:57 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 17:08:49 ago, cause: software
2025-04-29 06:20:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:20:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:20:57 [debug] Moves scheduled 30653, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 342, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=570, frequency (Hz): min=1515, max=15306
Sync err accum 77, peak jitter -2/0, peak Rx delay 206, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 995104285 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:20:57 [debug] Driver 0: pos -9623, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16512, writes 0 timeouts 0
2025-04-29 06:20:57 [debug] Last sensors broadcast 0x00000000 found 0 224 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 84, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 402, adv 36067/37103
2025-04-29 06:20:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10462, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:20:58 [info] currentZPosition:0.0152
2025-04-29 06:20:59 [debug] Stopped at height 0.016 mm
2025-04-29 06:20:59 [debug] Diagnostics for board 50:
2025-04-29 06:20:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:20:59 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:08:50 ago, cause: software
2025-04-29 06:20:59 [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
2025-04-29 06:20:59 [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
2025-04-29 06:20:59 [debug] Moves scheduled 30657, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=456, frequency (Hz): min=673, max=15306
Sync err accum 66, peak jitter -3/-1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 994050951 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 06:20:59 [debug] Driver 0: pos -9620, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16674, writes 11 timeouts 1
2025-04-29 06:20:59 [debug] Last sensors broadcast 0x00000000 found 0 127 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 91, 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 390, adv 36010/37084
2025-04-29 06:20:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10475, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:20:59 [info] currentZPosition:0.0155
2025-04-29 06:21:00 [debug] Stopped at height 0.015 mm
2025-04-29 06:21:00 [debug] Diagnostics for board 50:
2025-04-29 06:21:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:21:00 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:08:51 ago, cause: software
2025-04-29 06:21:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:21:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:21:00 [debug] Moves scheduled 30661, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=540, frequency (Hz): min=1524, max=15306
Sync err accum 61, peak jitter -3/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, CC0 mismatch!!, next step interrupt due in 993020128 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 06:21:00 [debug] Driver 0: pos -9623, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16249, writes 0 timeouts 0
2025-04-29 06:21:00 [debug] Last sensors broadcast 0x00000000 found 0 4 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 91, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36066/37120
2025-04-29 06:21:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2279
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10490, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:21:00 [info] currentZPosition:0.0152
2025-04-29 06:21:02 [debug] Stopped at height 0.016 mm
2025-04-29 06:21:02 [debug] Diagnostics for board 50:
2025-04-29 06:21:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:21:02 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:08:53 ago, cause: software
2025-04-29 06:21:02 [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
2025-04-29 06:21:02 [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
2025-04-29 06:21:02 [debug] Moves scheduled 30665, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 771, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=670, frequency (Hz): min=1117, max=15625
Sync err accum 78, peak jitter 2/4, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 991970573 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, curr
2025-04-29 06:21:02 [debug] Driver 0: pos -9616, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16594, writes 0 timeouts 0
2025-04-29 06:21:02 [debug] Last sensors broadcast 0x00000000 found 0 153 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 86, 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 387, adv 36095/37079
2025-04-29 06:21:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10454, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2280
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:21:02 [info] currentZPosition:0.0159
2025-04-29 06:21:03 [debug] Stopped at height 0.017 mm
2025-04-29 06:21:03 [debug] Diagnostics for board 50:
2025-04-29 06:21:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:21:03 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:08:54 ago, cause: software
2025-04-29 06:21:03 [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
2025-04-29 06:21:03 [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
2025-04-29 06:21:03 [debug] Moves scheduled 30669, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 303, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=488, frequency (Hz): min=1794, max=15306
Sync err accum 90, peak jitter 1/3, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 990960429 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 3
2025-04-29 06:21:03 [debug] Driver 0: pos -9608, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15967, writes 0 timeouts 0
2025-04-29 06:21:03 [debug] Last sensors broadcast 0x00000000 found 0 1 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 82, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 364, adv 36081/37134
2025-04-29 06:21:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10434, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:21:03 [info] currentZPosition:0.0167
2025-04-29 06:21:04 [debug] Stopped at height 0.015 mm
2025-04-29 06:21:04 [debug] Diagnostics for board 50:
2025-04-29 06:21:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:21:04 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:08:56 ago, cause: software
2025-04-29 06:21:04 [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
2025-04-29 06:21:04 [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
2025-04-29 06:21:04 [debug] Moves scheduled 30673, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 332, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=496, frequency (Hz): min=1708, max=15306
Sync err accum 96, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 989863234 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 3
2025-04-29 06:21:04 [debug] Driver 0: pos -9627, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17341, writes 0 timeouts 0
2025-04-29 06:21:04 [debug] Last sensors broadcast 0x00000000 found 0 214 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 88, 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 525, adv 36050/37078
2025-04-29 06:21:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2282
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10511, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4697, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:21:05 [info] currentZPosition:0.0148
2025-04-29 06:21:05 [debug] Stopped at height 0.015 mm
2025-04-29 06:21:06 [debug] Stopped at height 0.016 mm
2025-04-29 06:21:06 [debug] Diagnostics for board 50:
2025-04-29 06:21:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:21:06 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 17:08:57 ago, cause: software
2025-04-29 06:21:06 [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
2025-04-29 06:21:06 [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
2025-04-29 06:21:06 [debug] Moves scheduled 30679, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 275, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=772, frequency (Hz): min=1203, max=15625
Sync err accum 102, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, disabled, next step interrupt due in 988625032 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:21:06 [debug] Driver 0: pos -9616, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 19629, writes 0 timeouts 0
2025-04-29 06:21:06 [debug] Last sensors broadcast 0x00000000 found 0 114 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 99, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36091/37085
2025-04-29 06:21:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10427, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4696, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:21:06 [info] currentZPosition:0.0160
2025-04-29 06:21:07 [debug] Stopped at height 0.016 mm
2025-04-29 06:21:07 [debug] Diagnostics for board 50:
2025-04-29 06:21:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:21:07 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:08:59 ago, cause: software
2025-04-29 06:21:07 [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
2025-04-29 06:21:07 [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
2025-04-29 06:21:07 [debug] Moves scheduled 30683, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 278, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=482, frequency (Hz): min=1503, max=15306
Sync err accum 103, peak jitter -1/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 987557949 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max
2025-04-29 06:21:07 [debug] Driver 0: pos -9618, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16818, writes 0 timeouts 0
2025-04-29 06:21:07 [debug] Last sensors broadcast 0x00000000 found 0 39 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 85, 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 462, adv 36047/37114
2025-04-29 06:21:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10473, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:21:08 [info] currentZPosition:0.0158
2025-04-29 06:21:09 [debug] Stopped at height 0.017 mm
2025-04-29 06:21:09 [debug] Diagnostics for board 50:
2025-04-29 06:21:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:21:09 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:09:00 ago, cause: software
2025-04-29 06:21:09 [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
2025-04-29 06:21:09 [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
2025-04-29 06:21:09 [debug] Moves scheduled 30687, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=669, frequency (Hz): min=1175, max=15306
Sync err accum 103, peak jitter 0/0, peak Rx delay 198, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 986547793 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 06:21:09 [debug] Driver 0: pos -9611, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15995, writes 0 timeouts 0
2025-04-29 06:21:09 [debug] Last sensors broadcast 0x00000000 found 0 133 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 78, 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 439, adv 36065/37064
2025-04-29 06:21:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10410, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4696, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:21:09 [info] currentZPosition:0.0165
2025-04-29 06:21:10 [debug] Stopped at height 0.017 mm
2025-04-29 06:21:10 [debug] Diagnostics for board 50:
2025-04-29 06:21:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:21:10 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:09:02 ago, cause: software
2025-04-29 06:21:10 [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
2025-04-29 06:21:10 [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
2025-04-29 06:21:10 [debug] Moves scheduled 30691, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 306, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=492, frequency (Hz): min=816, max=15306
Sync err accum 98, peak jitter -1/0, peak Rx delay 184, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 985497050 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 3
2025-04-29 06:21:10 [debug] Driver 0: pos -9606, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16610, writes 11 timeouts 1
2025-04-29 06:21:10 [debug] Last sensors broadcast 0x00000000 found 0 33 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 81, 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 381, adv 36070/37092
2025-04-29 06:21:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10442, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:21:10 [info] currentZPosition:0.0170
2025-04-29 06:21:12 [debug] Stopped at height 0.015 mm
2025-04-29 06:21:12 [debug] Diagnostics for board 50:
2025-04-29 06:21:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:21:12 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:09:03 ago, cause: software
2025-04-29 06:21:12 [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
2025-04-29 06:21:12 [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
2025-04-29 06:21:12 [debug] Moves scheduled 30695, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=480, frequency (Hz): min=1131, max=15306
Sync err accum 92, peak jitter -2/0, peak Rx delay 193, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 984425312 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:21:12 [debug] Driver 0: pos -9630, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16969, writes 0 timeouts 0
2025-04-29 06:21:12 [debug] Last sensors broadcast 0x00000000 found 0 216 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 90, 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 357, adv 36098/37110
2025-04-29 06:21:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2282
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10558, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4696, no error
Lin: Encoder reverse polarity: no, raw count 2279
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:21:12 [info] currentZPosition:0.0146
2025-04-29 06:21:12 [debug] Stopped at height 0.013 mm
2025-04-29 06:21:13 [debug] Stopped at height 0.017 mm
2025-04-29 06:21:13 [debug] Diagnostics for board 50:
2025-04-29 06:21:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:21:13 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:09:05 ago, cause: software
2025-04-29 06:21:13 [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
2025-04-29 06:21:13 [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
2025-04-29 06:21:13 [debug] Moves scheduled 30701, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=641, frequency (Hz): min=1415, max=15306
Sync err accum 80, peak jitter -2/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 983163052 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:21:13 [debug] Driver 0: pos -9607, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 19951, writes 0 timeouts 0
2025-04-29 06:21:13 [debug] Last sensors broadcast 0x00000000 found 0 145 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 96, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36061/37120
2025-04-29 06:21:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10391, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:21:13 [info] currentZPosition:0.0169
2025-04-29 06:21:14 [debug] Stopped at height 0.016 mm
2025-04-29 06:21:15 [debug] Stopped at height 0.016 mm
2025-04-29 06:21:15 [debug] Diagnostics for board 50:
2025-04-29 06:21:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:21:15 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.5%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:09:06 ago, cause: software
2025-04-29 06:21:15 [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
2025-04-29 06:21:15 [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
2025-04-29 06:21:15 [debug] Moves scheduled 30707, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=508, frequency (Hz): min=1546, max=15306
Sync err accum 60, peak jitter -4/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 981879948 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:21:15 [debug] Driver 0: pos -9616, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20488, writes 0 timeouts 0
2025-04-29 06:21:15 [debug] Last sensors broadcast 0x00000000 found 0 108 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 99, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36073/37078
2025-04-29 06:21:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2279
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10441, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:21:15 [info] currentZPosition:0.0160
2025-04-29 06:21:16 [debug] Stopped at height 0.015 mm
2025-04-29 06:21:16 [debug] Diagnostics for board 50:
2025-04-29 06:21:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:21:16 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:09:08 ago, cause: software
2025-04-29 06:21:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:21:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:21:16 [debug] Moves scheduled 30711, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 387, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=529, frequency (Hz): min=1376, max=15306
Sync err accum 71, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 980795628 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 3
2025-04-29 06:21:16 [debug] Driver 0: pos -9627, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17143, writes 0 timeouts 0
2025-04-29 06:21:16 [debug] Last sensors broadcast 0x00000000 found 0 55 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 94, 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 374, adv 36062/37147
2025-04-29 06:21:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10536, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:21:17 [info] currentZPosition:0.0149
2025-04-29 06:21:18 [debug] Stopped at height 0.014 mm
2025-04-29 06:21:18 [debug] Diagnostics for board 50:
2025-04-29 06:21:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:21:18 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.2%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:09:09 ago, cause: software
2025-04-29 06:21:18 [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
2025-04-29 06:21:18 [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
2025-04-29 06:21:18 [debug] Moves scheduled 30715, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 310, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=736, frequency (Hz): min=652, max=15625
Sync err accum 82, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 979748302 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 34
2025-04-29 06:21:18 [debug] Driver 0: pos -9635, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16318, writes 11 timeouts 1
2025-04-29 06:21:18 [debug] Last sensors broadcast 0x00000000 found 0 201 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 101, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36114/37168
2025-04-29 06:21:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2281
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10568, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2282
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:21:18 [info] currentZPosition:0.0141
2025-04-29 06:21:19 [debug] Stopped at height 0.017 mm
2025-04-29 06:21:19 [debug] Diagnostics for board 50:
2025-04-29 06:21:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:21:19 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.1%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:09:11 ago, cause: software
2025-04-29 06:21:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:21:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:21:19 [debug] Moves scheduled 30719, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=610, frequency (Hz): min=1381, max=15306
Sync err accum 87, peak jitter 0/1, peak Rx delay 186, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 978722733 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 3
2025-04-29 06:21:19 [debug] Driver 0: pos -9611, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16081, writes 0 timeouts 0
2025-04-29 06:21:19 [debug] Last sensors broadcast 0x00000000 found 0 66 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 84, 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 405, adv 36054/37107
2025-04-29 06:21:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10447, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:21:19 [info] currentZPosition:0.0165
2025-04-29 06:21:20 [debug] Stopped at height 0.015 mm
2025-04-29 06:21:21 [debug] Stopped at height 0.016 mm
2025-04-29 06:21:21 [debug] Diagnostics for board 50:
2025-04-29 06:21:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:21:21 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.6%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:09:12 ago, cause: software
2025-04-29 06:21:21 [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
2025-04-29 06:21:21 [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
2025-04-29 06:21:21 [debug] Moves scheduled 30725, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=637, frequency (Hz): min=1290, max=15306
Sync err accum 91, peak jitter 0/1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 977451260 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, curr
2025-04-29 06:21:21 [debug] Driver 0: pos -9616, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20308, writes 0 timeouts 0
2025-04-29 06:21:21 [debug] Last sensors broadcast 0x00000000 found 0 14 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 106, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36059/37119
2025-04-29 06:21:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10422, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:21:21 [info] currentZPosition:0.0160
2025-04-29 06:21:22 [debug] Stopped at height 0.015 mm
2025-04-29 06:21:22 [debug] Diagnostics for board 50:
2025-04-29 06:21:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:21:22 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 17:09:14 ago, cause: software
2025-04-29 06:21:22 [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
2025-04-29 06:21:22 [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
2025-04-29 06:21:22 [debug] Moves scheduled 30729, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=582, frequency (Hz): min=1540, max=15306
Sync err accum 88, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 976358593 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:21:22 [debug] Driver 0: pos -9629, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17197, writes 0 timeouts 0
2025-04-29 06:21:22 [debug] Last sensors broadcast 0x00000000 found 0 219 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 91, 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 478, adv 36000/37107
2025-04-29 06:21:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2282
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10563, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:21:23 [info] currentZPosition:0.0147
2025-04-29 06:21:23 [debug] Stopped at height 0.013 mm
2025-04-29 06:21:24 [debug] Stopped at height 0.017 mm
2025-04-29 06:21:24 [debug] Diagnostics for board 50:
2025-04-29 06:21:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:21:24 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:09:15 ago, cause: software
2025-04-29 06:21:24 [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
2025-04-29 06:21:24 [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
2025-04-29 06:21:24 [debug] Moves scheduled 30735, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=677, frequency (Hz): min=514, max=15306
Sync err accum 81, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 975120163 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, curr
2025-04-29 06:21:24 [debug] Driver 0: pos -9611, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 19512, writes 11 timeouts 1
2025-04-29 06:21:24 [debug] Last sensors broadcast 0x00000000 found 0 119 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 97, 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 429, adv 36129/37160
2025-04-29 06:21:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10416, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:21:24 [info] currentZPosition:0.0165
2025-04-29 06:21:25 [debug] Stopped at height 0.015 mm
2025-04-29 06:21:26 [debug] Stopped at height 0.015 mm
2025-04-29 06:21:26 [debug] Diagnostics for board 50:
2025-04-29 06:21:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:21:26 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.4%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:09:17 ago, cause: software
2025-04-29 06:21:26 [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
2025-04-29 06:21:26 [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
2025-04-29 06:21:26 [debug] Moves scheduled 30741, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=477, frequency (Hz): min=1540, max=15306
Sync err accum 68, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 973803497 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:21:26 [debug] Driver 0: pos -9624, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 21045, writes 0 timeouts 0
2025-04-29 06:21:26 [debug] Last sensors broadcast 0x00000000 found 0 129 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 111, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 385, adv 36008/37158
2025-04-29 06:21:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10455, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2279
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:21:26 [info] currentZPosition:0.0152
2025-04-29 06:21:27 [debug] Stopped at height 0.017 mm
2025-04-29 06:21:27 [debug] Diagnostics for board 50:
2025-04-29 06:21:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:21:27 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.8%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:09:18 ago, cause: software
2025-04-29 06:21:27 [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
2025-04-29 06:21:27 [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
2025-04-29 06:21:27 [debug] Moves scheduled 30745, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 627, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=549, frequency (Hz): min=1659, max=15306
Sync err accum 59, peak jitter -3/0, peak Rx delay 193, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 972799219 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:21:27 [debug] Driver 0: pos -9611, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15777, writes 0 timeouts 0
2025-04-29 06:21:27 [debug] Last sensors broadcast 0x00000000 found 0 213 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 81, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36187/37108
2025-04-29 06:21:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10439, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:21:27 [info] currentZPosition:0.0165
2025-04-29 06:21:28 [debug] Stopped at height 0.014 mm
2025-04-29 06:21:29 [debug] Stopped at height 0.017 mm
2025-04-29 06:21:29 [debug] Diagnostics for board 50:
2025-04-29 06:21:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:21:29 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.5%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:09:20 ago, cause: software
2025-04-29 06:21:29 [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
2025-04-29 06:21:29 [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
2025-04-29 06:21:29 [debug] Moves scheduled 30751, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=649, frequency (Hz): min=1288, max=15306
Sync err accum 79, peak jitter 2/3, peak Rx delay 202, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 971507915 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 3
2025-04-29 06:21:29 [debug] Driver 0: pos -9611, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20586, writes 0 timeouts 0
2025-04-29 06:21:29 [debug] Last sensors broadcast 0x00000000 found 0 187 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 103, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 368, adv 36047/37095
2025-04-29 06:21:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10407, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:21:29 [info] currentZPosition:0.0165
2025-04-29 06:21:29 [debug] Stopped at height 0.016 mm
2025-04-29 06:21:31 [debug] Stopped at height 0.016 mm
2025-04-29 06:21:31 [debug] Diagnostics for board 50:
2025-04-29 06:21:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:21:31 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.7%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:09:22 ago, cause: software
2025-04-29 06:21:31 [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
2025-04-29 06:21:31 [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
2025-04-29 06:21:31 [debug] Moves scheduled 30757, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=490, frequency (Hz): min=1445, max=15306
Sync err accum 94, peak jitter 1/2, peak Rx delay 206, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 970243618 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 3
2025-04-29 06:21:31 [debug] Driver 0: pos -9613, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20127, writes 0 timeouts 0
2025-04-29 06:21:31 [debug] Last sensors broadcast 0x00000000 found 0 122 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 93, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36342/37120
2025-04-29 06:21:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2280
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10420, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:21:31 [info] currentZPosition:0.0163
2025-04-29 06:21:32 [debug] Stopped at height 0.016 mm
2025-04-29 06:21:32 [debug] Diagnostics for board 50:
2025-04-29 06:21:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:21:32 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:09:23 ago, cause: software
2025-04-29 06:21:32 [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
2025-04-29 06:21:32 [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
2025-04-29 06:21:32 [debug] Moves scheduled 30761, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=456, frequency (Hz): min=1712, max=15306
Sync err accum 100, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 969180062 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 06:21:32 [debug] Driver 0: pos -9614, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16794, writes 0 timeouts 0
2025-04-29 06:21:32 [debug] Last sensors broadcast 0x00000000 found 0 41 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 85, send timeouts 0, received 22, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36070/37125
2025-04-29 06:21:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2279
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10444, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:21:32 [info] currentZPosition:0.0162
2025-04-29 06:21:33 [debug] Stopped at height 0.017 mm
2025-04-29 06:21:33 [debug] Diagnostics for board 50:
2025-04-29 06:21:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:21:33 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:09:25 ago, cause: software
2025-04-29 06:21:33 [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
2025-04-29 06:21:33 [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
2025-04-29 06:21:33 [debug] Moves scheduled 30765, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=540, frequency (Hz): min=1509, max=15306
Sync err accum 106, peak jitter 1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 968159920 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:21:33 [debug] Driver 0: pos -9609, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15983, writes 0 timeouts 0
2025-04-29 06:21:33 [debug] Last sensors broadcast 0x00000000 found 0 151 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 80, 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 433, adv 36337/37156
2025-04-29 06:21:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10427, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:21:33 [info] currentZPosition:0.0167
2025-04-29 06:21:35 [debug] Stopped at height 0.016 mm
2025-04-29 06:21:35 [debug] Diagnostics for board 50:
2025-04-29 06:21:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:21:35 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:09:26 ago, cause: software
2025-04-29 06:21:35 [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
2025-04-29 06:21:35 [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
2025-04-29 06:21:35 [debug] Moves scheduled 30769, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=738, frequency (Hz): min=1209, max=15306
Sync err accum 107, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 967091133 ticks, 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
2025-04-29 06:21:35 [debug] Driver 0: pos -9612, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16821, writes 0 timeouts 0
2025-04-29 06:21:35 [debug] Last sensors broadcast 0x00000000 found 0 74 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 82, 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 614, adv 36058/37069
2025-04-29 06:21:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2280
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10430, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:21:35 [info] currentZPosition:0.0164
2025-04-29 06:21:36 [debug] Stopped at height 0.016 mm
2025-04-29 06:21:36 [debug] Diagnostics for board 50:
2025-04-29 06:21:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:21:36 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:09:27 ago, cause: software
2025-04-29 06:21:36 [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
2025-04-29 06:21:36 [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
2025-04-29 06:21:36 [debug] Moves scheduled 30773, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=481, frequency (Hz): min=640, max=15625
Sync err accum 105, peak jitter -1/1, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 966052870 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:21:36 [debug] Driver 0: pos -9616, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16281, writes 11 timeouts 1
2025-04-29 06:21:36 [debug] Last sensors broadcast 0x00000000 found 0 211 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 83, 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 378, adv 36312/37135
2025-04-29 06:21:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2280
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10448, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:21:36 [info] currentZPosition:0.0160
2025-04-29 06:21:38 [debug] Stopped at height 0.017 mm
2025-04-29 06:21:38 [debug] Diagnostics for board 50:
2025-04-29 06:21:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:21:38 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:09:29 ago, cause: software
2025-04-29 06:21:38 [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
2025-04-29 06:21:38 [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
2025-04-29 06:21:38 [debug] Moves scheduled 30777, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 168, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=710, frequency (Hz): min=663, max=15306
Sync err accum 100, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 964999224 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:21:38 [debug] Driver 0: pos -9610, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16577, writes 11 timeouts 1
2025-04-29 06:21:38 [debug] Last sensors broadcast 0x00000000 found 0 115 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 83, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36024/37125
2025-04-29 06:21:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10425, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:21:38 [info] currentZPosition:0.0166
2025-04-29 06:21:39 [debug] Stopped at height 0.016 mm
2025-04-29 06:21:39 [debug] Diagnostics for board 50:
2025-04-29 06:21:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:21:39 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:09:30 ago, cause: software
2025-04-29 06:21:39 [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
2025-04-29 06:21:39 [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
2025-04-29 06:21:39 [debug] Moves scheduled 30781, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 586, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=537, frequency (Hz): min=1482, max=15306
Sync err accum 90, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, disabled, next step interrupt due in 963956935 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:21:39 [debug] Driver 0: pos -9616, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16303, writes 0 timeouts 0
2025-04-29 06:21:39 [debug] Last sensors broadcast 0x00000000 found 0 5 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 85, 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 436, adv 36309/37122
2025-04-29 06:21:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2279
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10445, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:21:39 [info] currentZPosition:0.0160
2025-04-29 06:21:40 [debug] Stopped at height 0.017 mm
2025-04-29 06:21:40 [debug] Diagnostics for board 50:
2025-04-29 06:21:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:21:40 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.9%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:09:32 ago, cause: software
2025-04-29 06:21:40 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:21:40 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:21:40 [debug] Moves scheduled 30785, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=538, frequency (Hz): min=1612, max=15306
Sync err accum 78, peak jitter -3/-1, peak Rx delay 171, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 962902873 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:21:40 [debug] Driver 0: pos -9611, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16551, writes 0 timeouts 0
2025-04-29 06:21:40 [debug] Last sensors broadcast 0x00000000 found 0 159 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 84, 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 356, adv 35990/37111
2025-04-29 06:21:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10404, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:21:40 [info] currentZPosition:0.0165
2025-04-29 06:21:42 [debug] Stopped at height 0.016 mm
2025-04-29 06:21:42 [debug] Diagnostics for board 50:
2025-04-29 06:21:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:21:42 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:09:33 ago, cause: software
2025-04-29 06:21:42 [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
2025-04-29 06:21:42 [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
2025-04-29 06:21:42 [debug] Moves scheduled 30789, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=430, frequency (Hz): min=485, max=15306
Sync err accum 63, peak jitter -4/-2, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 961873377 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 06:21:42 [debug] Driver 0: pos -9612, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16224, writes 11 timeouts 1
2025-04-29 06:21:42 [debug] Last sensors broadcast 0x00000000 found 0 32 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 81, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36324/37107
2025-04-29 06:21:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2279
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10453, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:21:42 [info] currentZPosition:0.0164
2025-04-29 06:21:43 [debug] Stopped at height 0.017 mm
2025-04-29 06:21:43 [debug] Diagnostics for board 50:
2025-04-29 06:21:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:21:43 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:09:34 ago, cause: software
2025-04-29 06:21:43 [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
2025-04-29 06:21:43 [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
2025-04-29 06:21:43 [debug] Moves scheduled 30793, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 281, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=548, frequency (Hz): min=1533, max=15306
Sync err accum 71, peak jitter -2/3, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 960813065 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:21:43 [debug] Driver 0: pos -9611, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16780, writes 0 timeouts 0
2025-04-29 06:21:43 [debug] Last sensors broadcast 0x00000000 found 0 197 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 82, 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 388, adv 36039/37075
2025-04-29 06:21:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10404, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:21:43 [info] currentZPosition:0.0166
2025-04-29 06:21:44 [debug] Stopped at height 0.017 mm
2025-04-29 06:21:44 [debug] Diagnostics for board 50:
2025-04-29 06:21:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:21:44 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:09:36 ago, cause: software
2025-04-29 06:21:44 [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
2025-04-29 06:21:44 [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
2025-04-29 06:21:44 [debug] Moves scheduled 30797, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=505, frequency (Hz): min=1366, max=15306
Sync err accum 85, peak jitter 1/3, peak Rx delay 188, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 959795617 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, curr
2025-04-29 06:21:44 [debug] Driver 0: pos -9607, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16082, writes 0 timeouts 0
2025-04-29 06:21:44 [debug] Last sensors broadcast 0x00000000 found 0 53 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 81, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36337/37122
2025-04-29 06:21:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10423, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:21:45 [info] currentZPosition:0.0171
2025-04-29 06:21:46 [debug] Stopped at height 0.015 mm
2025-04-29 06:21:46 [debug] Diagnostics for board 50:
2025-04-29 06:21:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:21:46 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:09:37 ago, cause: software
2025-04-29 06:21:46 [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
2025-04-29 06:21:46 [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
2025-04-29 06:21:46 [debug] Moves scheduled 30801, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 295, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=486, frequency (Hz): min=1670, max=15306
Sync err accum 99, peak jitter 1/3, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 958693972 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, curr
2025-04-29 06:21:46 [debug] Driver 0: pos -9627, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17407, writes 0 timeouts 0
2025-04-29 06:21:46 [debug] Last sensors broadcast 0x00000000 found 0 21 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 96, 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 371, adv 36090/37104
2025-04-29 06:21:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2279
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10488, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:21:46 [info] currentZPosition:0.0151
2025-04-29 06:21:46 [debug] Stopped at height 0.014 mm
2025-04-29 06:21:48 [debug] Stopped at height 0.017 mm
2025-04-29 06:21:48 [debug] Diagnostics for board 50:
2025-04-29 06:21:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:21:48 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:09:39 ago, cause: software
2025-04-29 06:21:48 [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
2025-04-29 06:21:48 [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
2025-04-29 06:21:48 [debug] Moves scheduled 30807, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 257, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=533, frequency (Hz): min=1536, max=15306
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 957442942 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:21:48 [debug] Driver 0: pos -9613, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 19762, writes 0 timeouts 0
2025-04-29 06:21:48 [debug] Last sensors broadcast 0x00000000 found 0 190 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 100, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36310/37138
2025-04-29 06:21:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10418, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:21:48 [info] currentZPosition:0.0166
2025-04-29 06:21:48 [debug] Stopped at height 0.014 mm
2025-04-29 06:21:49 [debug] Stopped at height 0.015 mm
2025-04-29 06:21:49 [debug] Diagnostics for board 50:
2025-04-29 06:21:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:21:49 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.2%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:09:41 ago, cause: software
2025-04-29 06:21:49 [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
2025-04-29 06:21:49 [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
2025-04-29 06:21:49 [debug] Moves scheduled 30813, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=432, frequency (Hz): min=1815, max=15625
Sync err accum 112, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 956119082 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 06:21:49 [debug] Driver 0: pos -9628, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20929, writes 0 timeouts 0
2025-04-29 06:21:49 [debug] Last sensors broadcast 0x00000000 found 0 205 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 127, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36032/37123
2025-04-29 06:21:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10509, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4696, no error
Lin: Encoder reverse polarity: no, raw count 2280
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:21:50 [info] currentZPosition:0.0151
2025-04-29 06:21:50 [debug] Stopped at height 0.014 mm
2025-04-29 06:21:51 [debug] Stopped at height 0.015 mm
2025-04-29 06:21:51 [debug] Diagnostics for board 50:
2025-04-29 06:21:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:21:51 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:09:42 ago, cause: software
2025-04-29 06:21:51 [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
2025-04-29 06:21:51 [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
2025-04-29 06:21:51 [debug] Moves scheduled 30819, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 329, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=538, frequency (Hz): min=1391, max=15625
Sync err accum 110, peak jitter -1/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 954855871 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:21:51 [debug] Driver 0: pos -9627, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 19933, writes 0 timeouts 0
2025-04-29 06:21:51 [debug] Last sensors broadcast 0x00000000 found 0 140 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 114, 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 635, adv 36337/37158
2025-04-29 06:21:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10497, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4695, no error
Lin: Encoder reverse polarity: no, raw count 2281
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:21:51 [info] currentZPosition:0.0152
2025-04-29 06:21:52 [debug] Stopped at height 0.017 mm
2025-04-29 06:21:52 [debug] Diagnostics for board 50:
2025-04-29 06:21:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:21:52 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.0%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:09:44 ago, cause: software
2025-04-29 06:21:52 [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
2025-04-29 06:21:52 [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
2025-04-29 06:21:52 [debug] Moves scheduled 30823, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=585, frequency (Hz): min=1282, max=15625
Sync err accum 105, peak jitter -2/0, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 953832161 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:21:52 [debug] Driver 0: pos -9606, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16091, writes 0 timeouts 0
2025-04-29 06:21:52 [debug] Last sensors broadcast 0x00000000 found 0 4 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 80, 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 389, adv 36051/37118
2025-04-29 06:21:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2269
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10406, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:21:53 [info] currentZPosition:0.0173
2025-04-29 06:21:53 [debug] Stopped at height 0.017 mm
2025-04-29 06:21:54 [debug] Stopped at height 0.017 mm
2025-04-29 06:21:54 [debug] Diagnostics for board 50:
2025-04-29 06:21:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:21:54 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.2%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.8%
Owned mutexes:
Last reset 17:09:45 ago, cause: software
2025-04-29 06:21:54 [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
2025-04-29 06:21:54 [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
2025-04-29 06:21:54 [debug] Moves scheduled 30829, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=505, frequency (Hz): min=1530, max=15306
Sync err accum 91, peak jitter -3/0, peak Rx delay 210, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 952564065 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:21:54 [debug] Driver 0: pos -9611, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20279, writes 0 timeouts 0
2025-04-29 06:21:54 [debug] Last sensors broadcast 0x00000000 found 0 194 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 87, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36366/37165
2025-04-29 06:21:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10407, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:21:54 [info] currentZPosition:0.0168
2025-04-29 06:21:56 [debug] Stopped at height 0.017 mm
2025-04-29 06:21:56 [debug] Diagnostics for board 50:
2025-04-29 06:21:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:21:56 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:09:47 ago, cause: software
2025-04-29 06:21:56 [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
2025-04-29 06:21:56 [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
2025-04-29 06:21:56 [debug] Moves scheduled 30833, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=513, frequency (Hz): min=1724, max=15306
Sync err accum 78, peak jitter -3/-1, peak Rx delay 188, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 951493392 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:21:56 [debug] Driver 0: pos -9614, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16840, writes 0 timeouts 0
2025-04-29 06:21:56 [debug] Last sensors broadcast 0x00000000 found 0 123 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 84, 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 366, adv 36060/37104
2025-04-29 06:21:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10469, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:21:56 [info] currentZPosition:0.0165
2025-04-29 06:21:57 [debug] Stopped at height 0.017 mm
2025-04-29 06:21:57 [debug] Diagnostics for board 50:
2025-04-29 06:21:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:21:57 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:09:48 ago, cause: software
2025-04-29 06:21:57 [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
2025-04-29 06:21:57 [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
2025-04-29 06:21:57 [debug] Moves scheduled 30837, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 339, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=534, frequency (Hz): min=739, max=15306
Sync err accum 64, peak jitter -3/-2, peak Rx delay 207, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 950470254 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:21:57 [debug] Driver 0: pos -9611, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16087, writes 11 timeouts 1
2025-04-29 06:21:57 [debug] Last sensors broadcast 0x00000000 found 0 237 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 78, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 372, adv 36324/37123
2025-04-29 06:21:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10438, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4695, no error
Lin: Encoder reverse polarity: no, raw count 2279
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:21:57 [info] currentZPosition:0.0168
2025-04-29 06:21:58 [debug] Stopped at height 0.017 mm
2025-04-29 06:21:58 [debug] Diagnostics for board 50:
2025-04-29 06:21:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:21:58 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:09:50 ago, cause: software
2025-04-29 06:21:58 [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
2025-04-29 06:21:58 [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
2025-04-29 06:21:58 [debug] Moves scheduled 30841, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 302, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=538, frequency (Hz): min=1582, max=15306
Sync err accum 64, peak jitter -3/3, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 949405690 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 06:21:58 [debug] Driver 0: pos -9614, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16787, writes 0 timeouts 0
2025-04-29 06:21:58 [debug] Last sensors broadcast 0x00000000 found 0 161 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 82, 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 370, adv 36055/37114
2025-04-29 06:21:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10415, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:21:58 [info] currentZPosition:0.0165
2025-04-29 06:22:00 [debug] Stopped at height 0.017 mm
2025-04-29 06:22:00 [debug] Diagnostics for board 50:
2025-04-29 06:22:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:22:00 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.9%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:09:51 ago, cause: software
2025-04-29 06:22:00 [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
2025-04-29 06:22:00 [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
2025-04-29 06:22:00 [debug] Moves scheduled 30845, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=664, frequency (Hz): min=1329, max=15306
Sync err accum 79, peak jitter 2/3, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 948372767 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 3
2025-04-29 06:22:00 [debug] Driver 0: pos -9614, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16192, writes 0 timeouts 0
2025-04-29 06:22:00 [debug] Last sensors broadcast 0x00000000 found 0 34 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 83, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 36320/37158
2025-04-29 06:22:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10467, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:22:00 [info] currentZPosition:0.0165
2025-04-29 06:22:01 [debug] Stopped at height 0.016 mm
2025-04-29 06:22:01 [debug] Diagnostics for board 50:
2025-04-29 06:22:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:22:01 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:09:52 ago, cause: software
2025-04-29 06:22:01 [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
2025-04-29 06:22:01 [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
2025-04-29 06:22:01 [debug] Moves scheduled 30849, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=533, frequency (Hz): min=1453, max=15306
Sync err accum 92, peak jitter 1/2, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 947298891 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 3
2025-04-29 06:22:01 [debug] Driver 0: pos -9620, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16945, writes 0 timeouts 0
2025-04-29 06:22:01 [debug] Last sensors broadcast 0x00000000 found 0 215 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 89, 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 377, adv 35998/37099
2025-04-29 06:22:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2279
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10476, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:22:01 [info] currentZPosition:0.0159
2025-04-29 06:22:03 [debug] Stopped at height 0.017 mm
2025-04-29 06:22:03 [debug] Diagnostics for board 50:
2025-04-29 06:22:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:22:03 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:09:54 ago, cause: software
2025-04-29 06:22:03 [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
2025-04-29 06:22:03 [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
2025-04-29 06:22:03 [debug] Moves scheduled 30853, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=469, frequency (Hz): min=1572, max=15306
Sync err accum 101, peak jitter 1/2, peak Rx delay 196, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 946282482 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:22:03 [debug] Driver 0: pos -9612, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16032, writes 0 timeouts 0
2025-04-29 06:22:03 [debug] Last sensors broadcast 0x00000000 found 0 72 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 87, 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 430, adv 36352/37133
2025-04-29 06:22:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10443, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2280
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:22:03 [info] currentZPosition:0.0167
2025-04-29 06:22:04 [debug] Stopped at height 0.017 mm
2025-04-29 06:22:04 [debug] Diagnostics for board 50:
2025-04-29 06:22:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:22:04 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 17:09:55 ago, cause: software
2025-04-29 06:22:04 [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
2025-04-29 06:22:04 [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
2025-04-29 06:22:04 [debug] Moves scheduled 30857, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=546, frequency (Hz): min=1536, max=15306
Sync err accum 107, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 945215352 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:22:04 [debug] Driver 0: pos -9614, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16934, writes 0 timeouts 0
2025-04-29 06:22:04 [debug] Last sensors broadcast 0x00000000 found 0 243 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 80, 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 395, adv 36082/37130
2025-04-29 06:22:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10424, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4697, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:22:04 [info] currentZPosition:0.0165
2025-04-29 06:22:05 [debug] Stopped at height 0.015 mm
2025-04-29 06:22:05 [debug] Diagnostics for board 50:
2025-04-29 06:22:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:22:05 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:09:57 ago, cause: software
2025-04-29 06:22:05 [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
2025-04-29 06:22:05 [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
2025-04-29 06:22:05 [debug] Moves scheduled 30861, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 309, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=598, frequency (Hz): min=1404, max=15306
Sync err accum 108, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 944169710 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:22:05 [debug] Driver 0: pos -9625, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16441, writes 0 timeouts 0
2025-04-29 06:22:05 [debug] Last sensors broadcast 0x00000000 found 0 136 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 90, 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 375, adv 36321/37120
2025-04-29 06:22:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10520, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4697, no error
Lin: Encoder reverse polarity: no, raw count 2281
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:22:05 [info] currentZPosition:0.0154
2025-04-29 06:22:07 [debug] Stopped at height 0.017 mm
2025-04-29 06:22:07 [debug] Diagnostics for board 50:
2025-04-29 06:22:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:22:07 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:09:58 ago, cause: software
2025-04-29 06:22:07 [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
2025-04-29 06:22:07 [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
2025-04-29 06:22:07 [debug] Moves scheduled 30865, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 482, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=688, frequency (Hz): min=1288, max=15306
Sync err accum 105, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 943129086 ticks, 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
2025-04-29 06:22:07 [debug] Driver 0: pos -9614, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16425, writes 0 timeouts 0
2025-04-29 06:22:07 [debug] Last sensors broadcast 0x00000000 found 0 27 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 83, 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 402, adv 36018/37074
2025-04-29 06:22:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10460, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:22:07 [info] currentZPosition:0.0165
2025-04-29 06:22:08 [debug] Stopped at height 0.015 mm
2025-04-29 06:22:08 [debug] Diagnostics for board 50:
2025-04-29 06:22:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:22:08 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:09:59 ago, cause: software
2025-04-29 06:22:08 [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
2025-04-29 06:22:08 [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
2025-04-29 06:22:08 [debug] Moves scheduled 30869, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 306, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=704, frequency (Hz): min=1288, max=15306
Sync err accum 101, peak jitter -1/0, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 942078437 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max
2025-04-29 06:22:08 [debug] Driver 0: pos -9626, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16572, writes 0 timeouts 0
2025-04-29 06:22:08 [debug] Last sensors broadcast 0x00000000 found 0 176 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 88, 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 510, adv 36336/37068
2025-04-29 06:22:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10510, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2281
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:22:08 [info] currentZPosition:0.0153
2025-04-29 06:22:09 [debug] Stopped at height 0.017 mm
2025-04-29 06:22:09 [debug] Diagnostics for board 50:
2025-04-29 06:22:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:22:09 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:10:01 ago, cause: software
2025-04-29 06:22:09 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:22:09 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:22:09 [debug] Moves scheduled 30873, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 381, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=462, frequency (Hz): min=1732, max=15306
Sync err accum 91, peak jitter -2/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 941041238 ticks, 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
2025-04-29 06:22:09 [debug] Driver 0: pos -9612, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16326, writes 0 timeouts 0
2025-04-29 06:22:09 [debug] Last sensors broadcast 0x00000000 found 0 59 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 82, 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 380, adv 36068/37113
2025-04-29 06:22:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10452, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:22:10 [info] currentZPosition:0.0167
2025-04-29 06:22:10 [debug] Stopped at height 0.015 mm
2025-04-29 06:22:11 [debug] Stopped at height 0.016 mm
2025-04-29 06:22:11 [debug] Diagnostics for board 50:
2025-04-29 06:22:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:22:11 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.1%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:10:03 ago, cause: software
2025-04-29 06:22:11 [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
2025-04-29 06:22:11 [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
2025-04-29 06:22:11 [debug] Moves scheduled 30879, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=542, frequency (Hz): min=1559, max=15625
Sync err accum 78, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 939760235 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:22:11 [debug] Driver 0: pos -9624, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20310, writes 0 timeouts 0
2025-04-29 06:22:11 [debug] Last sensors broadcast 0x00000000 found 0 20 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 117, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36305/37092
2025-04-29 06:22:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10527, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4697, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:22:11 [info] currentZPosition:0.0155
2025-04-29 06:22:13 [debug] Stopped at height 0.017 mm
2025-04-29 06:22:13 [debug] Diagnostics for board 50:
2025-04-29 06:22:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:22:13 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:10:04 ago, cause: software
2025-04-29 06:22:13 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:22:13 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:22:13 [debug] Moves scheduled 30883, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 312, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=481, frequency (Hz): min=1543, max=15306
Sync err accum 62, peak jitter -4/-2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, CC0 mismatch!!, next step interrupt due in 938728284 ticks, 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
2025-04-29 06:22:13 [debug] Driver 0: pos -9608, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16290, writes 0 timeouts 0
2025-04-29 06:22:13 [debug] Last sensors broadcast 0x00000000 found 0 143 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 79, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 371, adv 36099/37125
2025-04-29 06:22:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10423, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:22:13 [info] currentZPosition:0.0172
2025-04-29 06:22:13 [debug] Stopped at height 0.017 mm
2025-04-29 06:22:14 [debug] Stopped at height 0.017 mm
2025-04-29 06:22:14 [debug] Diagnostics for board 50:
2025-04-29 06:22:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:22:14 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.7%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:10:06 ago, cause: software
2025-04-29 06:22:14 [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
2025-04-29 06:22:14 [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
2025-04-29 06:22:14 [debug] Moves scheduled 30889, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 306, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=582, frequency (Hz): min=1527, max=15306
Sync err accum 72, peak jitter -1/2, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 937458994 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 06:22:14 [debug] Driver 0: pos -9611, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20206, writes 0 timeouts 0
2025-04-29 06:22:14 [debug] Last sensors broadcast 0x00000000 found 0 85 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 93, 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 443, adv 36360/37126
2025-04-29 06:22:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2270
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10425, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2280
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:22:14 [info] currentZPosition:0.0169
2025-04-29 06:22:16 [debug] Stopped at height 0.015 mm
2025-04-29 06:22:16 [debug] Diagnostics for board 50:
2025-04-29 06:22:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:22:16 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:10:07 ago, cause: software
2025-04-29 06:22:16 [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
2025-04-29 06:22:16 [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
2025-04-29 06:22:16 [debug] Moves scheduled 30893, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 386, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=656, frequency (Hz): min=593, max=15306
Sync err accum 80, peak jitter 1/2, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 936364634 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 34
2025-04-29 06:22:16 [debug] Driver 0: pos -9627, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17287, writes 11 timeouts 1
2025-04-29 06:22:16 [debug] Last sensors broadcast 0x00000000 found 0 48 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 96, 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 387, adv 36050/37133
2025-04-29 06:22:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10507, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2281
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:22:16 [info] currentZPosition:0.0153
2025-04-29 06:22:16 [debug] Stopped at height 0.014 mm
2025-04-29 06:22:17 [debug] Stopped at height 0.016 mm
2025-04-29 06:22:17 [debug] Diagnostics for board 50:
2025-04-29 06:22:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:22:17 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:10:09 ago, cause: software
2025-04-29 06:22:17 [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
2025-04-29 06:22:17 [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
2025-04-29 06:22:17 [debug] Moves scheduled 30899, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=485, frequency (Hz): min=1549, max=15306
Sync err accum 89, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 935108973 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 3
2025-04-29 06:22:17 [debug] Driver 0: pos -9616, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 19808, writes 0 timeouts 0
2025-04-29 06:22:17 [debug] Last sensors broadcast 0x00000000 found 0 219 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 99, 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 443, adv 36358/37078
2025-04-29 06:22:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10470, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:22:18 [info] currentZPosition:0.0164
2025-04-29 06:22:18 [debug] Stopped at height 0.015 mm
2025-04-29 06:22:19 [debug] Stopped at height 0.016 mm
2025-04-29 06:22:19 [debug] Diagnostics for board 50:
2025-04-29 06:22:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:22:19 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.1%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:10:10 ago, cause: software
2025-04-29 06:22:19 [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
2025-04-29 06:22:19 [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
2025-04-29 06:22:19 [debug] Moves scheduled 30905, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 268, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=526, frequency (Hz): min=1436, max=15306
Sync err accum 90, peak jitter -1/1, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 933803836 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 06:22:19 [debug] Driver 0: pos -9619, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20665, writes 0 timeouts 0
2025-04-29 06:22:19 [debug] Last sensors broadcast 0x00000000 found 0 209 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 113, 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 378, adv 36034/37167
2025-04-29 06:22:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10432, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4697, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:22:19 [info] currentZPosition:0.0161
2025-04-29 06:22:20 [debug] Stopped at height 0.016 mm
2025-04-29 06:22:21 [debug] Stopped at height 0.017 mm
2025-04-29 06:22:21 [debug] Diagnostics for board 50:
2025-04-29 06:22:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:22:21 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.3%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:10:12 ago, cause: software
2025-04-29 06:22:21 [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
2025-04-29 06:22:21 [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
2025-04-29 06:22:21 [debug] Moves scheduled 30911, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=742, frequency (Hz): min=1192, max=15306
Sync err accum 85, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 932555968 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:22:21 [debug] Driver 0: pos -9614, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20019, writes 0 timeouts 0
2025-04-29 06:22:21 [debug] Last sensors broadcast 0x00000000 found 0 127 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 90, 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 372, adv 36321/37122
2025-04-29 06:22:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10430, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:22:21 [info] currentZPosition:0.0166
2025-04-29 06:22:22 [debug] Stopped at height 0.016 mm
2025-04-29 06:22:22 [debug] Diagnostics for board 50:
2025-04-29 06:22:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:22:22 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:10:14 ago, cause: software
2025-04-29 06:22:22 [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
2025-04-29 06:22:22 [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
2025-04-29 06:22:22 [debug] Moves scheduled 30915, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 260, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=582, frequency (Hz): min=1565, max=15306
Sync err accum 76, peak jitter -2/-1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 931474447 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:22:22 [debug] Driver 0: pos -9623, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17081, writes 0 timeouts 0
2025-04-29 06:22:22 [debug] Last sensors broadcast 0x00000000 found 0 64 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 95, 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 388, adv 36004/37118
2025-04-29 06:22:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10467, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4697, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:22:22 [info] currentZPosition:0.0158
2025-04-29 06:22:24 [debug] Stopped at height 0.015 mm
2025-04-29 06:22:24 [debug] Diagnostics for board 50:
2025-04-29 06:22:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:22:24 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.8%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:10:15 ago, cause: software
2025-04-29 06:22:24 [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
2025-04-29 06:22:24 [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
2025-04-29 06:22:24 [debug] Moves scheduled 30919, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 266, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=558, frequency (Hz): min=1494, max=15306
Sync err accum 62, peak jitter -2/-2, peak Rx delay 185, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 930436614 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:22:24 [debug] Driver 0: pos -9627, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16287, writes 0 timeouts 0
2025-04-29 06:22:24 [debug] Last sensors broadcast 0x00000000 found 0 199 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 90, send timeouts 0, received 22, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 36188/37130
2025-04-29 06:22:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10504, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:22:24 [info] currentZPosition:0.0154
2025-04-29 06:22:25 [debug] Stopped at height 0.017 mm
2025-04-29 06:22:25 [debug] Diagnostics for board 50:
2025-04-29 06:22:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:22:25 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.7%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:10:16 ago, cause: software
2025-04-29 06:22:25 [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
2025-04-29 06:22:25 [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
2025-04-29 06:22:25 [debug] Moves scheduled 30923, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=541, frequency (Hz): min=1464, max=15306
Sync err accum 67, peak jitter -2/3, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 929395484 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:22:25 [debug] Driver 0: pos -9611, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16397, writes 0 timeouts 0
2025-04-29 06:22:25 [debug] Last sensors broadcast 0x00000000 found 0 85 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 82, 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 404, adv 36044/37063
2025-04-29 06:22:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10455, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4697, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:22:25 [info] currentZPosition:0.0170
2025-04-29 06:22:25 [debug] Stopped at height 0.017 mm
2025-04-29 06:22:27 [debug] Stopped at height 0.017 mm
2025-04-29 06:22:27 [debug] Diagnostics for board 50:
2025-04-29 06:22:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:22:27 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.5%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:10:18 ago, cause: software
2025-04-29 06:22:27 [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
2025-04-29 06:22:27 [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
2025-04-29 06:22:27 [debug] Moves scheduled 30929, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=469, frequency (Hz): min=1674, max=15625
Sync err accum 82, peak jitter 1/3, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 928135012 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, curr
2025-04-29 06:22:27 [debug] Driver 0: pos -9613, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20125, writes 0 timeouts 0
2025-04-29 06:22:27 [debug] Last sensors broadcast 0x00000000 found 0 19 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 93, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36094/37100
2025-04-29 06:22:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10414, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:22:27 [info] currentZPosition:0.0168
2025-04-29 06:22:28 [debug] Stopped at height 0.017 mm
2025-04-29 06:22:28 [debug] Diagnostics for board 50:
2025-04-29 06:22:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:22:28 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:10:19 ago, cause: software
2025-04-29 06:22:28 [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
2025-04-29 06:22:28 [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
2025-04-29 06:22:28 [debug] Moves scheduled 30933, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 383, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=510, frequency (Hz): min=1318, max=15306
Sync err accum 93, peak jitter 0/3, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 927074014 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-29 06:22:28 [debug] Driver 0: pos -9613, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16777, writes 0 timeouts 0
2025-04-29 06:22:28 [debug] Last sensors broadcast 0x00000000 found 0 183 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 78, send timeouts 0, received 22, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36005/37121
2025-04-29 06:22:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10461, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:22:28 [info] currentZPosition:0.0168
2025-04-29 06:22:29 [debug] Stopped at height 0.017 mm
2025-04-29 06:22:29 [debug] Diagnostics for board 50:
2025-04-29 06:22:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:22:29 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 17:10:21 ago, cause: software
2025-04-29 06:22:29 [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
2025-04-29 06:22:29 [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
2025-04-29 06:22:29 [debug] Moves scheduled 30937, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=536, frequency (Hz): min=1659, max=15306
Sync err accum 97, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 926052837 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-29 06:22:29 [debug] Driver 0: pos -9610, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16124, writes 0 timeouts 0
2025-04-29 06:22:29 [debug] Last sensors broadcast 0x00000000 found 0 42 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 81, 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 508, adv 36074/37056
2025-04-29 06:22:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10457, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:22:30 [info] currentZPosition:0.0171
2025-04-29 06:22:31 [debug] Stopped at height 0.017 mm
2025-04-29 06:22:31 [debug] Diagnostics for board 50:
2025-04-29 06:22:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:22:31 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:10:22 ago, cause: software
2025-04-29 06:22:31 [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
2025-04-29 06:22:31 [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
2025-04-29 06:22:31 [debug] Moves scheduled 30941, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=578, frequency (Hz): min=1527, max=15306
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 924984605 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:22:31 [debug] Driver 0: pos -9614, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16936, writes 0 timeouts 0
2025-04-29 06:22:31 [debug] Last sensors broadcast 0x00000000 found 0 216 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 82, 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 461, adv 36062/37123
2025-04-29 06:22:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10464, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:22:31 [info] currentZPosition:0.0167
2025-04-29 06:22:32 [debug] Stopped at height 0.017 mm
2025-04-29 06:22:32 [debug] Diagnostics for board 50:
2025-04-29 06:22:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:22:32 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:10:24 ago, cause: software
2025-04-29 06:22:32 [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
2025-04-29 06:22:32 [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
2025-04-29 06:22:32 [debug] Moves scheduled 30945, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=580, frequency (Hz): min=759, max=15306
Sync err accum 101, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 923956630 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 06:22:32 [debug] Driver 0: pos -9615, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16242, writes 11 timeouts 1
2025-04-29 06:22:32 [debug] Last sensors broadcast 0x00000000 found 0 87 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 82, 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 374, adv 36115/37115
2025-04-29 06:22:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2279
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10438, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4697, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:22:32 [info] currentZPosition:0.0166
2025-04-29 06:22:34 [debug] Stopped at height 0.017 mm
2025-04-29 06:22:34 [debug] Diagnostics for board 50:
2025-04-29 06:22:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:22:34 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:10:25 ago, cause: software
2025-04-29 06:22:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:22:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:22:34 [debug] Moves scheduled 30949, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=605, frequency (Hz): min=1311, max=15306
Sync err accum 98, peak jitter -2/0, peak Rx delay 185, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 922903581 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 06:22:34 [debug] Driver 0: pos -9610, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16673, writes 0 timeouts 0
2025-04-29 06:22:34 [debug] Last sensors broadcast 0x00000000 found 0 242 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 81, 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 389, adv 36004/37173
2025-04-29 06:22:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10423, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:22:34 [info] currentZPosition:0.0171
2025-04-29 06:22:35 [debug] Stopped at height 0.015 mm
2025-04-29 06:22:35 [debug] Diagnostics for board 50:
2025-04-29 06:22:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:22:35 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:10:26 ago, cause: software
2025-04-29 06:22:35 [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
2025-04-29 06:22:35 [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
2025-04-29 06:22:35 [debug] Moves scheduled 30953, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 304, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=790, frequency (Hz): min=479, max=15625
Sync err accum 88, peak jitter -2/-1, peak Rx delay 186, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 921836916 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:22:35 [debug] Driver 0: pos -9627, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16733, writes 11 timeouts 1
2025-04-29 06:22:35 [debug] Last sensors broadcast 0x00000000 found 0 165 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 92, send timeouts 0, received 22, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36065/37171
2025-04-29 06:22:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10488, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:22:35 [info] currentZPosition:0.0154
2025-04-29 06:22:36 [debug] Stopped at height 0.014 mm
2025-04-29 06:22:37 [debug] Stopped at height 0.017 mm
2025-04-29 06:22:37 [debug] Diagnostics for board 50:
2025-04-29 06:22:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:22:37 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:10:28 ago, cause: software
2025-04-29 06:22:37 [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
2025-04-29 06:22:37 [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
2025-04-29 06:22:37 [debug] Moves scheduled 30959, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=568, frequency (Hz): min=1159, max=15306
Sync err accum 72, peak jitter -3/-1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 920563660 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:22:37 [debug] Driver 0: pos -9610, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20151, writes 0 timeouts 0
2025-04-29 06:22:37 [debug] Last sensors broadcast 0x00000000 found 0 111 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 100, 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 501, adv 36047/37144
2025-04-29 06:22:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10433, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:22:37 [info] currentZPosition:0.0171
2025-04-29 06:22:37 [debug] Stopped at height 0.015 mm
2025-04-29 06:22:38 [debug] Stopped at height 0.017 mm
2025-04-29 06:22:38 [debug] Diagnostics for board 50:
2025-04-29 06:22:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:22:38 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.0%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:10:30 ago, cause: software
2025-04-29 06:22:38 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:22:38 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:22:38 [debug] Moves scheduled 30965, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=768, frequency (Hz): min=1229, max=15306
Sync err accum 66, peak jitter -4/2, peak Rx delay 190, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 919308854 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:22:38 [debug] Driver 0: pos -9607, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 19891, writes 0 timeouts 0
2025-04-29 06:22:38 [debug] Last sensors broadcast 0x00000000 found 0 35 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 108, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 389, adv 36090/37153
2025-04-29 06:22:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10392, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:22:39 [info] currentZPosition:0.0174
2025-04-29 06:22:39 [debug] Stopped at height 0.017 mm
2025-04-29 06:22:40 [debug] Stopped at height 0.017 mm
2025-04-29 06:22:40 [debug] Diagnostics for board 50:
2025-04-29 06:22:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:22:40 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.4%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.7%
Owned mutexes:
Last reset 17:10:31 ago, cause: software
2025-04-29 06:22:40 [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
2025-04-29 06:22:40 [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
2025-04-29 06:22:40 [debug] Moves scheduled 30971, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=586, frequency (Hz): min=577, max=15306
Sync err accum 72, peak jitter 0/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, CC0 mismatch!!, next step interrupt due in 918014757 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: 
2025-04-29 06:22:40 [debug] Driver 0: pos -9610, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20632, writes 11 timeouts 1
2025-04-29 06:22:40 [debug] Last sensors broadcast 0x00000000 found 0 9 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 91, 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 385, adv 36031/37101
2025-04-29 06:22:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10449, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:22:40 [info] currentZPosition:0.0171
2025-04-29 06:22:42 [debug] Stopped at height 0.017 mm
2025-04-29 06:22:42 [debug] Diagnostics for board 50:
2025-04-29 06:22:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:22:42 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.4%
Owned mutexes:
Last reset 17:10:33 ago, cause: software
2025-04-29 06:22:42 [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
2025-04-29 06:22:42 [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
2025-04-29 06:22:42 [debug] Moves scheduled 30975, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=606, frequency (Hz): min=1203, max=15306
Sync err accum 75, peak jitter 0/1, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 916978824 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 3
2025-04-29 06:22:42 [debug] Driver 0: pos -9616, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16377, writes 0 timeouts 0
2025-04-29 06:22:42 [debug] Last sensors broadcast 0x00000000 found 0 142 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 82, 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 381, adv 36077/37076
2025-04-29 06:22:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10417, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:22:42 [info] currentZPosition:0.0165
2025-04-29 06:22:43 [debug] Stopped at height 0.016 mm
2025-04-29 06:22:43 [debug] Diagnostics for board 50:
2025-04-29 06:22:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:22:43 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 17:10:34 ago, cause: software
2025-04-29 06:22:43 [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
2025-04-29 06:22:43 [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
2025-04-29 06:22:43 [debug] Moves scheduled 30979, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=588, frequency (Hz): min=1518, max=15306
Sync err accum 72, peak jitter -1/0, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 915911669 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:22:43 [debug] Driver 0: pos -9619, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16880, writes 0 timeouts 0
2025-04-29 06:22:43 [debug] Last sensors broadcast 0x00000000 found 0 66 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 85, 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 389, adv 36002/37110
2025-04-29 06:22:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10429, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:22:43 [info] currentZPosition:0.0162
2025-04-29 06:22:44 [debug] Stopped at height 0.017 mm
2025-04-29 06:22:44 [debug] Diagnostics for board 50:
2025-04-29 06:22:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:22:44 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:10:36 ago, cause: software
2025-04-29 06:22:44 [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
2025-04-29 06:22:44 [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
2025-04-29 06:22:44 [debug] Moves scheduled 30983, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=728, frequency (Hz): min=1160, max=15306
Sync err accum 68, peak jitter -2/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 914902631 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 06:22:44 [debug] Driver 0: pos -9610, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15872, writes 0 timeouts 0
2025-04-29 06:22:44 [debug] Last sensors broadcast 0x00000000 found 0 159 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 78, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36064/37126
2025-04-29 06:22:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10403, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:22:44 [info] currentZPosition:0.0171
2025-04-29 06:22:46 [debug] Stopped at height 0.017 mm
2025-04-29 06:22:46 [debug] Diagnostics for board 50:
2025-04-29 06:22:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:22:46 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:10:37 ago, cause: software
2025-04-29 06:22:46 [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
2025-04-29 06:22:46 [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
2025-04-29 06:22:46 [debug] Moves scheduled 30987, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=586, frequency (Hz): min=1396, max=15306
Sync err accum 66, peak jitter -2/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 913836766 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:22:46 [debug] Driver 0: pos -9612, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16857, writes 0 timeouts 0
2025-04-29 06:22:46 [debug] Last sensors broadcast 0x00000000 found 0 81 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 82, 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 393, adv 36043/37119
2025-04-29 06:22:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10405, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:22:46 [info] currentZPosition:0.0169
2025-04-29 06:22:47 [debug] Stopped at height 0.017 mm
2025-04-29 06:22:47 [debug] Diagnostics for board 50:
2025-04-29 06:22:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:22:47 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:10:38 ago, cause: software
2025-04-29 06:22:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:22:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:22:47 [debug] Moves scheduled 30991, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=534, frequency (Hz): min=1461, max=15306
Sync err accum 70, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 912799537 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-29 06:22:47 [debug] Driver 0: pos -9614, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16353, writes 0 timeouts 0
2025-04-29 06:22:47 [debug] Last sensors broadcast 0x00000000 found 0 215 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 81, 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 395, adv 36067/37117
2025-04-29 06:22:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10465, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:22:47 [info] currentZPosition:0.0167
2025-04-29 06:22:49 [debug] Stopped at height 0.017 mm
2025-04-29 06:22:49 [debug] Diagnostics for board 50:
2025-04-29 06:22:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:22:49 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 17:10:40 ago, cause: software
2025-04-29 06:22:49 [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
2025-04-29 06:22:49 [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
2025-04-29 06:22:49 [debug] Moves scheduled 30995, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=620, frequency (Hz): min=1456, max=15306
Sync err accum 73, peak jitter 0/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 911739822 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-29 06:22:49 [debug] Driver 0: pos -9612, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16750, writes 0 timeouts 0
2025-04-29 06:22:49 [debug] Last sensors broadcast 0x00000000 found 0 126 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 82, 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 381, adv 36040/37089
2025-04-29 06:22:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10417, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4697, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:22:49 [info] currentZPosition:0.0169
2025-04-29 06:22:50 [debug] Stopped at height 0.017 mm
2025-04-29 06:22:50 [debug] Diagnostics for board 50:
2025-04-29 06:22:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:22:50 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.0%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:10:41 ago, cause: software
2025-04-29 06:22:50 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:22:50 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:22:50 [debug] Moves scheduled 30999, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=626, frequency (Hz): min=719, max=15306
Sync err accum 73, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 910712568 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, curr
2025-04-29 06:22:50 [debug] Driver 0: pos -9614, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16256, writes 11 timeouts 1
2025-04-29 06:22:50 [debug] Last sensors broadcast 0x00000000 found 0 247 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 81, 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 435, adv 36080/37108
2025-04-29 06:22:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10435, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2280
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:22:50 [info] currentZPosition:0.0167
2025-04-29 06:22:51 [debug] Stopped at height 0.018 mm
2025-04-29 06:22:51 [debug] Diagnostics for board 50:
2025-04-29 06:22:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:22:51 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:10:43 ago, cause: software
2025-04-29 06:22:51 [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
2025-04-29 06:22:51 [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
2025-04-29 06:22:51 [debug] Moves scheduled 31003, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=520, frequency (Hz): min=1648, max=15306
Sync err accum 69, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 909676614 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 06:22:51 [debug] Driver 0: pos -9602, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16440, writes 0 timeouts 0
2025-04-29 06:22:51 [debug] Last sensors broadcast 0x00000000 found 0 126 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 79, 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 513, adv 36011/37116
2025-04-29 06:22:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10392, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:22:51 [info] currentZPosition:0.0179
2025-04-29 06:22:53 [debug] Stopped at height 0.017 mm
2025-04-29 06:22:53 [debug] Diagnostics for board 50:
2025-04-29 06:22:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:22:53 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:10:44 ago, cause: software
2025-04-29 06:22:53 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:22:53 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:22:53 [debug] Moves scheduled 31007, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=532, frequency (Hz): min=1503, max=15306
Sync err accum 62, peak jitter -2/0, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 908638587 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:22:53 [debug] Driver 0: pos -9611, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16467, writes 0 timeouts 0
2025-04-29 06:22:53 [debug] Last sensors broadcast 0x00000000 found 0 12 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 82, 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 361, adv 36087/37160
2025-04-29 06:22:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10450, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:22:53 [info] currentZPosition:0.0170
2025-04-29 06:22:54 [debug] Stopped at height 0.016 mm
2025-04-29 06:22:54 [debug] Diagnostics for board 50:
2025-04-29 06:22:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:22:54 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:10:45 ago, cause: software
2025-04-29 06:22:54 [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
2025-04-29 06:22:54 [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
2025-04-29 06:22:54 [debug] Moves scheduled 31011, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=545, frequency (Hz): min=1575, max=15306
Sync err accum 76, peak jitter 1/3, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 907553789 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 3
2025-04-29 06:22:54 [debug] Driver 0: pos -9623, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17214, writes 0 timeouts 0
2025-04-29 06:22:54 [debug] Last sensors broadcast 0x00000000 found 0 209 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 89, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 36021/37125
2025-04-29 06:22:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10485, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:22:54 [info] currentZPosition:0.0158
2025-04-29 06:22:56 [debug] Stopped at height 0.016 mm
2025-04-29 06:22:56 [debug] Diagnostics for board 50:
2025-04-29 06:22:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:22:56 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:10:47 ago, cause: software
2025-04-29 06:22:56 [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
2025-04-29 06:22:56 [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
2025-04-29 06:22:56 [debug] Moves scheduled 31015, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=650, frequency (Hz): min=1420, max=15306
Sync err accum 88, peak jitter 1/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 906522109 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-29 06:22:56 [debug] Driver 0: pos -9623, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16251, writes 0 timeouts 0
2025-04-29 06:22:56 [debug] Last sensors broadcast 0x00000000 found 0 83 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 93, 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 521, adv 36101/37117
2025-04-29 06:22:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10493, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:22:56 [info] currentZPosition:0.0158
2025-04-29 06:22:57 [debug] Stopped at height 0.017 mm
2025-04-29 06:22:57 [debug] Diagnostics for board 50:
2025-04-29 06:22:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:22:57 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:10:48 ago, cause: software
2025-04-29 06:22:57 [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
2025-04-29 06:22:57 [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
2025-04-29 06:22:57 [debug] Moves scheduled 31019, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 241, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=560, frequency (Hz): min=1644, max=15306
Sync err accum 91, peak jitter 0/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 1 ticks, disabled, CC0 mismatch!!, next step interrupt due in 905478627 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 06:22:57 [debug] Driver 0: pos -9614, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16464, writes 0 timeouts 0
2025-04-29 06:22:57 [debug] Last sensors broadcast 0x00000000 found 0 225 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 82, 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 432, adv 36004/37103
2025-04-29 06:22:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2279
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10426, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:22:57 [info] currentZPosition:0.0167
2025-04-29 06:22:58 [debug] Stopped at height 0.017 mm
2025-04-29 06:22:58 [debug] Diagnostics for board 50:
2025-04-29 06:22:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:22:58 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:10:50 ago, cause: software
2025-04-29 06:22:58 [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
2025-04-29 06:22:58 [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
2025-04-29 06:22:58 [debug] Moves scheduled 31023, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 400, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=673, frequency (Hz): min=1219, max=15000
Sync err accum 95, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 904455550 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 3
2025-04-29 06:22:58 [debug] Driver 0: pos -9610, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16138, writes 0 timeouts 0
2025-04-29 06:22:58 [debug] Last sensors broadcast 0x00000000 found 0 90 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 80, 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 387, adv 36112/37119
2025-04-29 06:22:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10439, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:22:58 [info] currentZPosition:0.0171
2025-04-29 06:23:00 [debug] Stopped at height 0.017 mm
2025-04-29 06:23:00 [debug] Diagnostics for board 50:
2025-04-29 06:23:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:23:00 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:10:51 ago, cause: software
2025-04-29 06:23:00 [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
2025-04-29 06:23:00 [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
2025-04-29 06:23:00 [debug] Moves scheduled 31027, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 649, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=493, frequency (Hz): min=1712, max=15306
Sync err accum 95, peak jitter -1/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 903383992 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:23:00 [debug] Driver 0: pos -9615, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16903, writes 0 timeouts 0
2025-04-29 06:23:00 [debug] Last sensors broadcast 0x00000000 found 0 18 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 84, 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 392, adv 36019/37152
2025-04-29 06:23:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10436, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4697, no error
Lin: Encoder reverse polarity: no, raw count 2279
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:23:00 [info] currentZPosition:0.0166
2025-04-29 06:23:01 [debug] Stopped at height 0.016 mm
2025-04-29 06:23:01 [debug] Diagnostics for board 50:
2025-04-29 06:23:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:23:01 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:10:52 ago, cause: software
2025-04-29 06:23:01 [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
2025-04-29 06:23:01 [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
2025-04-29 06:23:01 [debug] Moves scheduled 31031, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 330, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=526, frequency (Hz): min=1602, max=15306
Sync err accum 90, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, CC0 mismatch!!, next step interrupt due in 902344012 ticks, 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
2025-04-29 06:23:01 [debug] Driver 0: pos -9622, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16354, writes 0 timeouts 0
2025-04-29 06:23:01 [debug] Last sensors broadcast 0x00000000 found 0 156 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 89, 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 396, adv 36069/37121
2025-04-29 06:23:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10455, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:23:01 [info] currentZPosition:0.0159
2025-04-29 06:23:02 [debug] Stopped at height 0.017 mm
2025-04-29 06:23:02 [debug] Diagnostics for board 50:
2025-04-29 06:23:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:23:02 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.8%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:10:54 ago, cause: software
2025-04-29 06:23:02 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:23:02 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:23:02 [debug] Moves scheduled 31035, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=500, frequency (Hz): min=1467, max=15306
Sync err accum 81, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 901291493 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:23:02 [debug] Driver 0: pos -9616, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16564, writes 0 timeouts 0
2025-04-29 06:23:02 [debug] Last sensors broadcast 0x00000000 found 0 59 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 87, 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 381, adv 36055/37087
2025-04-29 06:23:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10437, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2280
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:23:03 [info] currentZPosition:0.0165
2025-04-29 06:23:04 [debug] Stopped at height 0.016 mm
2025-04-29 06:23:04 [debug] Diagnostics for board 50:
2025-04-29 06:23:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:23:04 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:10:55 ago, cause: software
2025-04-29 06:23:04 [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
2025-04-29 06:23:04 [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
2025-04-29 06:23:04 [debug] Moves scheduled 31039, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 244, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=562, frequency (Hz): min=1456, max=15625
Sync err accum 70, peak jitter -2/-1, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 900249332 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max
2025-04-29 06:23:04 [debug] Driver 0: pos -9625, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16266, writes 0 timeouts 0
2025-04-29 06:23:04 [debug] Last sensors broadcast 0x00000000 found 0 198 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 93, 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 372, adv 36107/37115
2025-04-29 06:23:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10501, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2280
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:23:04 [info] currentZPosition:0.0156
2025-04-29 06:23:05 [debug] Stopped at height 0.017 mm
2025-04-29 06:23:05 [debug] Diagnostics for board 50:
2025-04-29 06:23:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:23:05 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:10:57 ago, cause: software
2025-04-29 06:23:05 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:23:05 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:23:05 [debug] Moves scheduled 31043, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=634, frequency (Hz): min=1336, max=15306
Sync err accum 63, peak jitter -3/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 899222355 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:23:05 [debug] Driver 0: pos -9607, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16234, writes 0 timeouts 0
2025-04-29 06:23:05 [debug] Last sensors broadcast 0x00000000 found 0 70 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 80, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36085/37141
2025-04-29 06:23:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10444, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:23:05 [info] currentZPosition:0.0174
2025-04-29 06:23:06 [debug] Stopped at height 0.017 mm
2025-04-29 06:23:07 [debug] Stopped at height 0.016 mm
2025-04-29 06:23:07 [debug] Diagnostics for board 50:
2025-04-29 06:23:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:23:07 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.4%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:10:58 ago, cause: software
2025-04-29 06:23:07 [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
2025-04-29 06:23:07 [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
2025-04-29 06:23:07 [debug] Moves scheduled 31049, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=588, frequency (Hz): min=1527, max=15306
Sync err accum 82, peak jitter 2/3, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 897935464 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, curr
2025-04-29 06:23:07 [debug] Driver 0: pos -9620, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20517, writes 0 timeouts 0
2025-04-29 06:23:07 [debug] Last sensors broadcast 0x00000000 found 0 31 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 98, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36145/37097
2025-04-29 06:23:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10469, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:23:07 [info] currentZPosition:0.0161
2025-04-29 06:23:08 [debug] Stopped at height 0.017 mm
2025-04-29 06:23:08 [debug] Diagnostics for board 50:
2025-04-29 06:23:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:23:08 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.0%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:11:00 ago, cause: software
2025-04-29 06:23:08 [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
2025-04-29 06:23:08 [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
2025-04-29 06:23:08 [debug] Moves scheduled 31053, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 396, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=500, frequency (Hz): min=1693, max=15306
Sync err accum 91, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 896883978 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-29 06:23:08 [debug] Driver 0: pos -9615, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16673, writes 0 timeouts 0
2025-04-29 06:23:08 [debug] Last sensors broadcast 0x00000000 found 0 184 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 84, send timeouts 0, received 22, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36047/37108
2025-04-29 06:23:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2281
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10425, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:23:08 [info] currentZPosition:0.0166
2025-04-29 06:23:10 [debug] Stopped at height 0.015 mm
2025-04-29 06:23:10 [debug] Diagnostics for board 50:
2025-04-29 06:23:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:23:10 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:11:01 ago, cause: software
2025-04-29 06:23:10 [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
2025-04-29 06:23:10 [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
2025-04-29 06:23:10 [debug] Moves scheduled 31057, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=520, frequency (Hz): min=1497, max=15306
Sync err accum 94, peak jitter 0/1, peak Rx delay 219, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 895828913 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 3
2025-04-29 06:23:10 [debug] Driver 0: pos -9629, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16605, writes 0 timeouts 0
2025-04-29 06:23:10 [debug] Last sensors broadcast 0x00000000 found 0 94 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 102, 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 360, adv 36114/37116
2025-04-29 06:23:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10561, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2283
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:23:10 [info] currentZPosition:0.0152
2025-04-29 06:23:10 [debug] Stopped at height 0.014 mm
2025-04-29 06:23:11 [debug] Stopped at height 0.017 mm
2025-04-29 06:23:11 [debug] Diagnostics for board 50:
2025-04-29 06:23:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:23:11 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:11:03 ago, cause: software
2025-04-29 06:23:11 [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
2025-04-29 06:23:11 [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
2025-04-29 06:23:11 [debug] Moves scheduled 31063, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 310, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=492, frequency (Hz): min=1521, max=15306
Sync err accum 100, peak jitter 0/1, peak Rx delay 186, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 894547283 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:23:11 [debug] Driver 0: pos -9614, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20300, writes 0 timeouts 0
2025-04-29 06:23:11 [debug] Last sensors broadcast 0x00000000 found 0 51 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 103, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36012/37115
2025-04-29 06:23:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10419, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:23:12 [info] currentZPosition:0.0169
2025-04-29 06:23:12 [debug] Stopped at height 0.016 mm
2025-04-29 06:23:13 [debug] Stopped at height 0.017 mm
2025-04-29 06:23:13 [debug] Diagnostics for board 50:
2025-04-29 06:23:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:23:13 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 17:11:04 ago, cause: software
2025-04-29 06:23:13 [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
2025-04-29 06:23:13 [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
2025-04-29 06:23:13 [debug] Moves scheduled 31069, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=478, frequency (Hz): min=1651, max=15306
Sync err accum 99, peak jitter -1/1, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 893273019 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 06:23:13 [debug] Driver 0: pos -9618, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20377, writes 0 timeouts 0
2025-04-29 06:23:13 [debug] Last sensors broadcast 0x00000000 found 0 249 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 97, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36132/37120
2025-04-29 06:23:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10471, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:23:13 [info] currentZPosition:0.0165
2025-04-29 06:23:15 [debug] Stopped at height 0.017 mm
2025-04-29 06:23:15 [debug] Diagnostics for board 50:
2025-04-29 06:23:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:23:15 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.0%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:11:06 ago, cause: software
2025-04-29 06:23:15 [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
2025-04-29 06:23:15 [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
2025-04-29 06:23:15 [debug] Moves scheduled 31073, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=758, frequency (Hz): min=1200, max=15306
Sync err accum 94, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 892224669 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 06:23:15 [debug] Driver 0: pos -9610, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16639, writes 0 timeouts 0
2025-04-29 06:23:15 [debug] Last sensors broadcast 0x00000000 found 0 149 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 78, 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 385, adv 36004/37118
2025-04-29 06:23:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10410, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4694, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:23:15 [info] currentZPosition:0.0173
2025-04-29 06:23:16 [debug] Stopped at height 0.016 mm
2025-04-29 06:23:16 [debug] Diagnostics for board 50:
2025-04-29 06:23:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:23:16 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:11:07 ago, cause: software
2025-04-29 06:23:16 [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
2025-04-29 06:23:16 [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
2025-04-29 06:23:16 [debug] Moves scheduled 31077, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=580, frequency (Hz): min=1585, max=15306
Sync err accum 81, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 891181256 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:23:16 [debug] Driver 0: pos -9621, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16486, writes 0 timeouts 0
2025-04-29 06:23:16 [debug] Last sensors broadcast 0x00000000 found 0 38 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 87, 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 363, adv 36116/37124
2025-04-29 06:23:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10463, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:23:16 [info] currentZPosition:0.0162
2025-04-29 06:23:17 [debug] Stopped at height 0.016 mm
2025-04-29 06:23:17 [debug] Diagnostics for board 50:
2025-04-29 06:23:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:23:17 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:11:09 ago, cause: software
2025-04-29 06:23:17 [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
2025-04-29 06:23:17 [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
2025-04-29 06:23:17 [debug] Moves scheduled 31081, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 158, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=717, frequency (Hz): min=1227, max=15625
Sync err accum 69, peak jitter -3/0, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 890114807 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:23:17 [debug] Driver 0: pos -9625, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16868, writes 0 timeouts 0
2025-04-29 06:23:17 [debug] Last sensors broadcast 0x00000000 found 0 210 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 87, send timeouts 0, received 22, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36009/37111
2025-04-29 06:23:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2279
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10497, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4697, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:23:18 [info] currentZPosition:0.0158
2025-04-29 06:23:19 [debug] Stopped at height 0.017 mm
2025-04-29 06:23:19 [debug] Diagnostics for board 50:
2025-04-29 06:23:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:23:19 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.8%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:11:10 ago, cause: software
2025-04-29 06:23:19 [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
2025-04-29 06:23:19 [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
2025-04-29 06:23:19 [debug] Moves scheduled 31085, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 394, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=484, frequency (Hz): min=1461, max=15306
Sync err accum 64, peak jitter -4/2, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 889111079 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:23:19 [debug] Driver 0: pos -9612, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15845, writes 0 timeouts 0
2025-04-29 06:23:19 [debug] Last sensors broadcast 0x00000000 found 0 50 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 81, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36221/37102
2025-04-29 06:23:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10472, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:23:19 [info] currentZPosition:0.0171
2025-04-29 06:23:19 [debug] Stopped at height 0.017 mm
2025-04-29 06:23:20 [debug] Stopped at height 0.017 mm
2025-04-29 06:23:20 [debug] Diagnostics for board 50:
2025-04-29 06:23:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:23:20 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.3%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:11:12 ago, cause: software
2025-04-29 06:23:20 [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
2025-04-29 06:23:20 [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
2025-04-29 06:23:20 [debug] Moves scheduled 31091, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=444, frequency (Hz): min=1833, max=15306
Sync err accum 78, peak jitter 1/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 887805057 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, curr
2025-04-29 06:23:20 [debug] Driver 0: pos -9618, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20874, writes 0 timeouts 0
2025-04-29 06:23:20 [debug] Last sensors broadcast 0x00000000 found 0 40 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 94, 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 373, adv 36037/37123
2025-04-29 06:23:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10432, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:23:21 [info] currentZPosition:0.0165
2025-04-29 06:23:22 [debug] Stopped at height 0.017 mm
2025-04-29 06:23:22 [debug] Diagnostics for board 50:
2025-04-29 06:23:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:23:22 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:11:13 ago, cause: software
2025-04-29 06:23:22 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:23:22 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:23:22 [debug] Moves scheduled 31095, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=605, frequency (Hz): min=1521, max=15306
Sync err accum 85, peak jitter 0/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 886795314 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-29 06:23:22 [debug] Driver 0: pos -9609, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16007, writes 0 timeouts 0
2025-04-29 06:23:22 [debug] Last sensors broadcast 0x00000000 found 0 136 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 78, 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 385, adv 36312/37127
2025-04-29 06:23:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10413, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:23:22 [info] currentZPosition:0.0174
2025-04-29 06:23:23 [debug] Stopped at height 0.017 mm
2025-04-29 06:23:23 [debug] Diagnostics for board 50:
2025-04-29 06:23:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:23:23 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 17:11:15 ago, cause: software
2025-04-29 06:23:23 [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
2025-04-29 06:23:23 [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
2025-04-29 06:23:23 [debug] Moves scheduled 31099, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 261, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=586, frequency (Hz): min=1423, max=15306
Sync err accum 87, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 885726393 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:23:23 [debug] Driver 0: pos -9612, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16983, writes 0 timeouts 0
2025-04-29 06:23:23 [debug] Last sensors broadcast 0x00000000 found 0 65 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 80, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36010/37156
2025-04-29 06:23:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10440, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:23:23 [info] currentZPosition:0.0171
2025-04-29 06:23:25 [debug] Stopped at height 0.017 mm
2025-04-29 06:23:25 [debug] Diagnostics for board 50:
2025-04-29 06:23:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:23:25 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.2%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:11:16 ago, cause: software
2025-04-29 06:23:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:23:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:23:25 [debug] Moves scheduled 31103, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=533, frequency (Hz): min=1376, max=15625
Sync err accum 85, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 884683067 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 06:23:25 [debug] Driver 0: pos -9618, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16473, writes 0 timeouts 0
2025-04-29 06:23:25 [debug] Last sensors broadcast 0x00000000 found 0 204 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 84, 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 446, adv 36300/37134
2025-04-29 06:23:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10424, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:23:25 [info] currentZPosition:0.0165
2025-04-29 06:23:26 [debug] Stopped at height 0.017 mm
2025-04-29 06:23:26 [debug] Diagnostics for board 50:
2025-04-29 06:23:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:23:26 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:11:17 ago, cause: software
2025-04-29 06:23:26 [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
2025-04-29 06:23:26 [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
2025-04-29 06:23:26 [debug] Moves scheduled 31107, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 241, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=554, frequency (Hz): min=1361, max=15306
Sync err accum 80, peak jitter -1/0, peak Rx delay 186, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, CC0 mismatch!!, next step interrupt due in 883627443 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 06:23:26 [debug] Driver 0: pos -9614, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16702, writes 0 timeouts 0
2025-04-29 06:23:26 [debug] Last sensors broadcast 0x00000000 found 0 111 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 83, 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 366, adv 36031/37095
2025-04-29 06:23:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10438, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4697, no error
Lin: Encoder reverse polarity: no, raw count 2279
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:23:26 [info] currentZPosition:0.0169
2025-04-29 06:23:27 [debug] Stopped at height 0.017 mm
2025-04-29 06:23:27 [debug] Diagnostics for board 50:
2025-04-29 06:23:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:23:27 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:11:19 ago, cause: software
2025-04-29 06:23:27 [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
2025-04-29 06:23:27 [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
2025-04-29 06:23:27 [debug] Moves scheduled 31111, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=608, frequency (Hz): min=1339, max=15306
Sync err accum 72, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 882600078 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 06:23:27 [debug] Driver 0: pos -9615, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16275, writes 0 timeouts 0
2025-04-29 06:23:27 [debug] Last sensors broadcast 0x00000000 found 0 232 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 80, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36390/37169
2025-04-29 06:23:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2279
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10429, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4697, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:23:28 [info] currentZPosition:0.0168
2025-04-29 06:23:29 [debug] Stopped at height 0.017 mm
2025-04-29 06:23:29 [debug] Diagnostics for board 50:
2025-04-29 06:23:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:23:29 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.1%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:11:20 ago, cause: software
2025-04-29 06:23:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:23:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:23:29 [debug] Moves scheduled 31115, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 165, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=632, frequency (Hz): min=1439, max=16304
Sync err accum 61, peak jitter -2/0, peak Rx delay 185, resyncs 0/0, next timer interrupt due in 4294967244 ticks, disabled, next step interrupt due in 881535861 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 
2025-04-29 06:23:29 [debug] Driver 0: pos -9616, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16815, writes 0 timeouts 0
2025-04-29 06:23:29 [debug] Last sensors broadcast 0x00000000 found 0 149 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 83, 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 369, adv 36043/37105
2025-04-29 06:23:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10438, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4697, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:23:29 [info] currentZPosition:0.0167
2025-04-29 06:23:30 [debug] Stopped at height 0.015 mm
2025-04-29 06:23:30 [debug] Diagnostics for board 50:
2025-04-29 06:23:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:23:30 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.7%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.3%
Owned mutexes:
Last reset 17:11:22 ago, cause: software
2025-04-29 06:23:30 [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
2025-04-29 06:23:30 [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
2025-04-29 06:23:30 [debug] Moves scheduled 31119, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 484, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=461, frequency (Hz): min=1842, max=15306
Sync err accum 72, peak jitter 1/4, peak Rx delay 207, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 880467188 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-29 06:23:30 [debug] Driver 0: pos -9633, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16769, writes 0 timeouts 0
2025-04-29 06:23:30 [debug] Last sensors broadcast 0x00000000 found 0 76 ticks ago, 0 ordering errs, loop time 2
CAN messages queued 99, 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 371, adv 36324/37121
2025-04-29 06:23:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2284
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10581, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4695, no error
Lin: Encoder reverse polarity: no, raw count 2279
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:23:30 [info] currentZPosition:0.0150
2025-04-29 06:23:31 [debug] Stopped at height 0.014 mm
2025-04-29 06:23:32 [debug] Stopped at height 0.017 mm
2025-04-29 06:23:32 [debug] Diagnostics for board 50:
2025-04-29 06:23:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:23:32 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.8%
Owned mutexes:
Last reset 17:11:23 ago, cause: software
2025-04-29 06:23:32 [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
2025-04-29 06:23:32 [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
2025-04-29 06:23:32 [debug] Moves scheduled 31125, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 399, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=672, frequency (Hz): min=1401, max=15625
Sync err accum 81, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 879194897 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-29 06:23:32 [debug] Driver 0: pos -9612, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20122, writes 0 timeouts 0
2025-04-29 06:23:32 [debug] Last sensors broadcast 0x00000000 found 0 20 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 96, 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 558, adv 36019/37102
2025-04-29 06:23:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2280
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10432, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:23:32 [info] currentZPosition:0.0171
2025-04-29 06:23:32 [debug] Stopped at height 0.015 mm
2025-04-29 06:23:34 [debug] Stopped at height 0.017 mm
2025-04-29 06:23:34 [debug] Diagnostics for board 50:
2025-04-29 06:23:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:23:34 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.8%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:11:25 ago, cause: software
2025-04-29 06:23:34 [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
2025-04-29 06:23:34 [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
2025-04-29 06:23:34 [debug] Moves scheduled 31131, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=652, frequency (Hz): min=1363, max=15306
Sync err accum 89, peak jitter 0/2, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 877944960 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 3
2025-04-29 06:23:34 [debug] Driver 0: pos -9609, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 19879, writes 0 timeouts 0
2025-04-29 06:23:34 [debug] Last sensors broadcast 0x00000000 found 0 186 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 99, 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 375, adv 36367/37172
2025-04-29 06:23:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10460, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:23:34 [info] currentZPosition:0.0174
2025-04-29 06:23:34 [debug] Stopped at height 0.016 mm
2025-04-29 06:23:35 [debug] Stopped at height 0.017 mm
2025-04-29 06:23:35 [debug] Diagnostics for board 50:
2025-04-29 06:23:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:23:35 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.4%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:11:27 ago, cause: software
2025-04-29 06:23:35 [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
2025-04-29 06:23:35 [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
2025-04-29 06:23:35 [debug] Moves scheduled 31137, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=509, frequency (Hz): min=1720, max=15306
Sync err accum 86, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 876637028 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 06:23:35 [debug] Driver 0: pos -9615, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20876, writes 0 timeouts 0
2025-04-29 06:23:35 [debug] Last sensors broadcast 0x00000000 found 0 179 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 101, 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 437, adv 36017/37150
2025-04-29 06:23:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10439, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:23:35 [info] currentZPosition:0.0168
2025-04-29 06:23:37 [debug] Stopped at height 0.017 mm
2025-04-29 06:23:37 [debug] Diagnostics for board 50:
2025-04-29 06:23:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:23:37 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:11:28 ago, cause: software
2025-04-29 06:23:37 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:23:37 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:23:37 [debug] Moves scheduled 31141, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 271, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=564, frequency (Hz): min=1456, max=15306
Sync err accum 82, peak jitter -1/0, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 875610037 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 06:23:37 [debug] Driver 0: pos -9614, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16241, writes 0 timeouts 0
2025-04-29 06:23:37 [debug] Last sensors broadcast 0x00000000 found 0 49 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 84, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 36305/37065
2025-04-29 06:23:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10459, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:23:37 [info] currentZPosition:0.0169
2025-04-29 06:23:38 [debug] Stopped at height 0.016 mm
2025-04-29 06:23:38 [debug] Diagnostics for board 50:
2025-04-29 06:23:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:23:38 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.9%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:11:29 ago, cause: software
2025-04-29 06:23:38 [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
2025-04-29 06:23:38 [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
2025-04-29 06:23:38 [debug] Moves scheduled 31145, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=548, frequency (Hz): min=1297, max=15306
Sync err accum 72, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 874530768 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:23:38 [debug] Driver 0: pos -9625, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17102, writes 0 timeouts 0
2025-04-29 06:23:38 [debug] Last sensors broadcast 0x00000000 found 0 239 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 91, 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 367, adv 36039/37125
2025-04-29 06:23:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10500, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2279
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:23:38 [info] currentZPosition:0.0160
2025-04-29 06:23:40 [debug] Stopped at height 0.016 mm
2025-04-29 06:23:40 [debug] Diagnostics for board 50:
2025-04-29 06:23:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:23:40 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:11:31 ago, cause: software
2025-04-29 06:23:40 [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
2025-04-29 06:23:40 [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
2025-04-29 06:23:40 [debug] Moves scheduled 31149, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=486, frequency (Hz): min=1509, max=15306
Sync err accum 62, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 873503671 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:23:40 [debug] Driver 0: pos -9624, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16200, writes 0 timeouts 0
2025-04-29 06:23:40 [debug] Last sensors broadcast 0x00000000 found 0 108 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 86, 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 429, adv 36226/37082
2025-04-29 06:23:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10495, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:23:40 [info] currentZPosition:0.0161
2025-04-29 06:23:41 [debug] Stopped at height 0.017 mm
2025-04-29 06:23:41 [debug] Diagnostics for board 50:
2025-04-29 06:23:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:23:41 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:11:32 ago, cause: software
2025-04-29 06:23:41 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:23:41 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:23:41 [debug] Moves scheduled 31153, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 384, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=554, frequency (Hz): min=1530, max=15306
Sync err accum 69, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 872451128 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, curr
2025-04-29 06:23:41 [debug] Driver 0: pos -9621, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16607, writes 0 timeouts 0
2025-04-29 06:23:41 [debug] Last sensors broadcast 0x00000000 found 0 11 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 86, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36012/37108
2025-04-29 06:23:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10481, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:23:41 [info] currentZPosition:0.0165
2025-04-29 06:23:42 [debug] Stopped at height 0.017 mm
2025-04-29 06:23:42 [debug] Diagnostics for board 50:
2025-04-29 06:23:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:23:42 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:11:34 ago, cause: software
2025-04-29 06:23:42 [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
2025-04-29 06:23:42 [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
2025-04-29 06:23:42 [debug] Moves scheduled 31157, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=492, frequency (Hz): min=1302, max=15306
Sync err accum 71, peak jitter -1/2, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 871434419 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 06:23:42 [debug] Driver 0: pos -9614, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16014, writes 0 timeouts 0
2025-04-29 06:23:42 [debug] Last sensors broadcast 0x00000000 found 0 118 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 80, 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 380, adv 36317/37161
2025-04-29 06:23:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10474, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:23:42 [info] currentZPosition:0.0172
2025-04-29 06:23:44 [debug] Stopped at height 0.017 mm
2025-04-29 06:23:44 [debug] Diagnostics for board 50:
2025-04-29 06:23:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:23:44 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:11:35 ago, cause: software
2025-04-29 06:23:44 [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
2025-04-29 06:23:44 [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
2025-04-29 06:23:44 [debug] Moves scheduled 31161, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 392, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=604, frequency (Hz): min=1533, max=15306
Sync err accum 66, peak jitter -1/0, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 870376466 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 06:23:44 [debug] Driver 0: pos -9611, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16795, writes 0 timeouts 0
2025-04-29 06:23:44 [debug] Last sensors broadcast 0x00000000 found 0 28 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 80, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36025/37163
2025-04-29 06:23:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10454, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:23:44 [info] currentZPosition:0.0175
2025-04-29 06:23:45 [debug] Stopped at height 0.017 mm
2025-04-29 06:23:45 [debug] Diagnostics for board 50:
2025-04-29 06:23:45 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:23:45 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:11:36 ago, cause: software
2025-04-29 06:23:45 [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
2025-04-29 06:23:45 [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
2025-04-29 06:23:45 [debug] Moves scheduled 31165, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=481, frequency (Hz): min=1923, max=15306
Sync err accum 64, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 869342228 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 06:23:45 [debug] Driver 0: pos -9612, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16368, writes 0 timeouts 0
2025-04-29 06:23:45 [debug] Last sensors broadcast 0x00000000 found 0 159 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 78, 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 360, adv 36346/37153
2025-04-29 06:23:45 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2279
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10451, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:23:45 [info] currentZPosition:0.0174
2025-04-29 06:23:47 [debug] Stopped at height 0.016 mm
2025-04-29 06:23:47 [debug] Diagnostics for board 50:
2025-04-29 06:23:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:23:47 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:11:38 ago, cause: software
2025-04-29 06:23:47 [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
2025-04-29 06:23:47 [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
2025-04-29 06:23:47 [debug] Moves scheduled 31169, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 254, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=534, frequency (Hz): min=1378, max=15306
Sync err accum 66, peak jitter -1/1, peak Rx delay 195, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 868246496 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 06:23:47 [debug] Driver 0: pos -9630, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17300, writes 0 timeouts 0
2025-04-29 06:23:47 [debug] Last sensors broadcast 0x00000000 found 0 118 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 97, send timeouts 0, received 22, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36054/37120
2025-04-29 06:23:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2279
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10572, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2282
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:23:47 [info] currentZPosition:0.0156
2025-04-29 06:23:47 [debug] Stopped at height 0.014 mm
2025-04-29 06:23:48 [debug] Stopped at height 0.017 mm
2025-04-29 06:23:48 [debug] Diagnostics for board 50:
2025-04-29 06:23:48 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:23:48 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:11:40 ago, cause: software
2025-04-29 06:23:48 [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
2025-04-29 06:23:48 [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
2025-04-29 06:23:48 [debug] Moves scheduled 31175, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=524, frequency (Hz): min=1407, max=15306
Sync err accum 67, peak jitter -1/1, peak Rx delay 186, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 866997737 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 06:23:48 [debug] Driver 0: pos -9614, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 19719, writes 0 timeouts 0
2025-04-29 06:23:48 [debug] Last sensors broadcast 0x00000000 found 0 32 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 96, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 396, adv 36290/37109
2025-04-29 06:23:48 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10459, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:23:48 [info] currentZPosition:0.0172
2025-04-29 06:23:49 [debug] Stopped at height 0.015 mm
2025-04-29 06:23:50 [debug] Stopped at height 0.018 mm
2025-04-29 06:23:50 [debug] Diagnostics for board 50:
2025-04-29 06:23:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:23:50 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.9%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:11:41 ago, cause: software
2025-04-29 06:23:50 [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
2025-04-29 06:23:50 [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
2025-04-29 06:23:50 [debug] Moves scheduled 31181, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=606, frequency (Hz): min=1401, max=15625
Sync err accum 66, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 865713011 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:23:50 [debug] Driver 0: pos -9608, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20425, writes 0 timeouts 0
2025-04-29 06:23:50 [debug] Last sensors broadcast 0x00000000 found 0 246 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 96, 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 498, adv 36053/37156
2025-04-29 06:23:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10459, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:23:50 [info] currentZPosition:0.0178
2025-04-29 06:23:50 [debug] Stopped at height 0.014 mm
2025-04-29 06:23:52 [debug] Stopped at height 0.016 mm
2025-04-29 06:23:52 [debug] Diagnostics for board 50:
2025-04-29 06:23:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:23:52 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:11:43 ago, cause: software
2025-04-29 06:23:52 [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
2025-04-29 06:23:52 [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
2025-04-29 06:23:52 [debug] Moves scheduled 31187, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=674, frequency (Hz): min=1203, max=15306
Sync err accum 67, peak jitter -2/2, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 864412767 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 06:23:52 [debug] Driver 0: pos -9629, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20436, writes 0 timeouts 0
2025-04-29 06:23:52 [debug] Last sensors broadcast 0x00000000 found 0 228 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 131, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36345/37120
2025-04-29 06:23:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10533, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2280
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:23:52 [info] currentZPosition:0.0157
2025-04-29 06:23:52 [debug] Stopped at height 0.014 mm
2025-04-29 06:23:53 [debug] Stopped at height 0.018 mm
2025-04-29 06:23:53 [debug] Diagnostics for board 50:
2025-04-29 06:23:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:23:53 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:11:45 ago, cause: software
2025-04-29 06:23:53 [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
2025-04-29 06:23:53 [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
2025-04-29 06:23:53 [debug] Moves scheduled 31193, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 304, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=669, frequency (Hz): min=1209, max=15306
Sync err accum 67, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 863147476 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:23:53 [debug] Driver 0: pos -9610, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20021, writes 0 timeouts 0
2025-04-29 06:23:53 [debug] Last sensors broadcast 0x00000000 found 0 167 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 103, 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 372, adv 36061/37162
2025-04-29 06:23:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10453, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:23:53 [info] currentZPosition:0.0176
2025-04-29 06:23:54 [debug] Stopped at height 0.016 mm
2025-04-29 06:23:54 [debug] Stopped at height 0.016 mm
2025-04-29 06:23:55 [debug] Stopped at height 0.016 mm
2025-04-29 06:23:55 [debug] Diagnostics for board 50:
2025-04-29 06:23:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:23:55 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.2%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:11:47 ago, cause: software
2025-04-29 06:23:55 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:23:55 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:23:55 [debug] Moves scheduled 31201, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=453, frequency (Hz): min=622, max=15306
Sync err accum 63, peak jitter -1/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 861607344 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, curr
2025-04-29 06:23:55 [debug] Driver 0: pos -9627, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 24605, writes 11 timeouts 1
2025-04-29 06:23:55 [debug] Last sensors broadcast 0x00000000 found 0 220 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 125, send timeouts 0, received 35, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36301/37137
2025-04-29 06:23:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2283
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10504, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:23:56 [info] currentZPosition:0.0159
2025-04-29 06:23:57 [debug] Stopped at height 0.017 mm
2025-04-29 06:23:57 [debug] Diagnostics for board 50:
2025-04-29 06:23:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:23:57 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.8%
Owned mutexes:
Last reset 17:11:48 ago, cause: software
2025-04-29 06:23:57 [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
2025-04-29 06:23:57 [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
2025-04-29 06:23:57 [debug] Moves scheduled 31205, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 164, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=553, frequency (Hz): min=1491, max=15306
Sync err accum 69, peak jitter 0/2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 860563309 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 3
2025-04-29 06:23:57 [debug] Driver 0: pos -9616, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16549, writes 0 timeouts 0
2025-04-29 06:23:57 [debug] Last sensors broadcast 0x00000000 found 0 114 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 84, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 367, adv 36031/37120
2025-04-29 06:23:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10489, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:23:57 [info] currentZPosition:0.0170
2025-04-29 06:23:58 [debug] Stopped at height 0.017 mm
2025-04-29 06:23:58 [debug] Diagnostics for board 50:
2025-04-29 06:23:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:23:58 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:11:49 ago, cause: software
2025-04-29 06:23:58 [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
2025-04-29 06:23:58 [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
2025-04-29 06:23:58 [debug] Moves scheduled 31209, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=496, frequency (Hz): min=1320, max=15306
Sync err accum 71, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 859523705 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 3
2025-04-29 06:23:58 [debug] Driver 0: pos -9622, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16418, writes 0 timeouts 0
2025-04-29 06:23:58 [debug] Last sensors broadcast 0x00000000 found 0 248 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 87, 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 362, adv 36322/37134
2025-04-29 06:23:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10464, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2280
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:23:58 [info] currentZPosition:0.0165
2025-04-29 06:24:00 [debug] Stopped at height 0.017 mm
2025-04-29 06:24:00 [debug] Diagnostics for board 50:
2025-04-29 06:24:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:24:00 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:11:51 ago, cause: software
2025-04-29 06:24:00 [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
2025-04-29 06:24:00 [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
2025-04-29 06:24:00 [debug] Moves scheduled 31213, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=557, frequency (Hz): min=1361, max=15306
Sync err accum 71, peak jitter -1/1, peak Rx delay 219, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 858473302 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 06:24:00 [debug] Driver 0: pos -9618, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16655, writes 0 timeouts 0
2025-04-29 06:24:00 [debug] Last sensors broadcast 0x00000000 found 0 149 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 88, 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 376, adv 36043/37094
2025-04-29 06:24:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2279
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10465, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:24:00 [info] currentZPosition:0.0169
2025-04-29 06:24:01 [debug] Stopped at height 0.018 mm
2025-04-29 06:24:01 [debug] Diagnostics for board 50:
2025-04-29 06:24:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:24:01 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:11:52 ago, cause: software
2025-04-29 06:24:01 [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
2025-04-29 06:24:01 [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
2025-04-29 06:24:01 [debug] Moves scheduled 31217, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=616, frequency (Hz): min=1445, max=15306
Sync err accum 67, peak jitter -1/0, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 857464942 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:24:01 [debug] Driver 0: pos -9609, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15978, writes 0 timeouts 0
2025-04-29 06:24:01 [debug] Last sensors broadcast 0x00000000 found 0 246 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 80, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 354, adv 36311/37118
2025-04-29 06:24:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10419, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:24:01 [info] currentZPosition:0.0178
2025-04-29 06:24:02 [debug] Stopped at height 0.016 mm
2025-04-29 06:24:02 [debug] Diagnostics for board 50:
2025-04-29 06:24:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:24:02 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:11:54 ago, cause: software
2025-04-29 06:24:02 [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
2025-04-29 06:24:02 [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
2025-04-29 06:24:02 [debug] Moves scheduled 31221, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 590, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=538, frequency (Hz): min=1381, max=15306
Sync err accum 64, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 1 ticks, disabled, CC0 mismatch!!, next step interrupt due in 856362500 ticks, 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
2025-04-29 06:24:02 [debug] Driver 0: pos -9626, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17347, writes 0 timeouts 0
2025-04-29 06:24:02 [debug] Last sensors broadcast 0x00000000 found 0 214 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 90, 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 370, adv 36058/37098
2025-04-29 06:24:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10502, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2280
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:24:03 [info] currentZPosition:0.0161
2025-04-29 06:24:03 [debug] Stopped at height 0.016 mm
2025-04-29 06:24:04 [debug] Stopped at height 0.017 mm
2025-04-29 06:24:04 [debug] Diagnostics for board 50:
2025-04-29 06:24:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:24:04 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.8%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:11:55 ago, cause: software
2025-04-29 06:24:04 [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
2025-04-29 06:24:04 [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
2025-04-29 06:24:04 [debug] Moves scheduled 31227, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=585, frequency (Hz): min=1315, max=15306
Sync err accum 68, peak jitter 0/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 855120505 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-29 06:24:04 [debug] Driver 0: pos -9613, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 19779, writes 0 timeouts 0
2025-04-29 06:24:04 [debug] Last sensors broadcast 0x00000000 found 0 119 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 93, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36324/37142
2025-04-29 06:24:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10420, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:24:04 [info] currentZPosition:0.0174
2025-04-29 06:24:05 [debug] Stopped at height 0.017 mm
2025-04-29 06:24:05 [debug] Diagnostics for board 50:
2025-04-29 06:24:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:24:05 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:11:57 ago, cause: software
2025-04-29 06:24:05 [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
2025-04-29 06:24:05 [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
2025-04-29 06:24:05 [debug] Moves scheduled 31231, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=548, frequency (Hz): min=1237, max=15306
Sync err accum 70, peak jitter 0/1, peak Rx delay 189, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 854056436 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, curr
2025-04-29 06:24:05 [debug] Driver 0: pos -9613, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16851, writes 0 timeouts 0
2025-04-29 06:24:05 [debug] Last sensors broadcast 0x00000000 found 0 39 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 82, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 355, adv 36096/37121
2025-04-29 06:24:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2279
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10448, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:24:06 [info] currentZPosition:0.0175
2025-04-29 06:24:07 [debug] Stopped at height 0.016 mm
2025-04-29 06:24:07 [debug] Diagnostics for board 50:
2025-04-29 06:24:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:24:07 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:11:58 ago, cause: software
2025-04-29 06:24:07 [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
2025-04-29 06:24:07 [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
2025-04-29 06:24:07 [debug] Moves scheduled 31235, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=600, frequency (Hz): min=1533, max=15306
Sync err accum 66, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 853001669 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 06:24:07 [debug] Driver 0: pos -9626, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16636, writes 0 timeouts 0
2025-04-29 06:24:07 [debug] Last sensors broadcast 0x00000000 found 0 195 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 89, 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 376, adv 36345/37170
2025-04-29 06:24:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10502, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2280
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:24:07 [info] currentZPosition:0.0162
2025-04-29 06:24:07 [debug] Stopped at height 0.017 mm
2025-04-29 06:24:09 [debug] Stopped at height 0.016 mm
2025-04-29 06:24:09 [debug] Diagnostics for board 50:
2025-04-29 06:24:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:24:09 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.5%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:12:00 ago, cause: software
2025-04-29 06:24:09 [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
2025-04-29 06:24:09 [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
2025-04-29 06:24:09 [debug] Moves scheduled 31241, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=525, frequency (Hz): min=1293, max=15306
Sync err accum 65, peak jitter -1/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 851698463 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:24:09 [debug] Driver 0: pos -9630, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20797, writes 0 timeouts 0
2025-04-29 06:24:09 [debug] Last sensors broadcast 0x00000000 found 0 181 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 99, 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 456, adv 36025/37151
2025-04-29 06:24:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2282
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10556, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:24:09 [info] currentZPosition:0.0158
2025-04-29 06:24:09 [debug] Stopped at height 0.014 mm
2025-04-29 06:24:09 [debug] Stopped at height 0.013 mm
2025-04-29 06:24:11 [debug] Stopped at height 0.018 mm
2025-04-29 06:24:11 [debug] Diagnostics for board 50:
2025-04-29 06:24:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:24:11 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.1%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:12:02 ago, cause: software
2025-04-29 06:24:11 [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
2025-04-29 06:24:11 [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
2025-04-29 06:24:11 [debug] Moves scheduled 31249, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=508, frequency (Hz): min=1696, max=15306
Sync err accum 65, peak jitter -1/1, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 850230935 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 06:24:11 [debug] Driver 0: pos -9606, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 23323, writes 0 timeouts 0
2025-04-29 06:24:11 [debug] Last sensors broadcast 0x00000000 found 0 142 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 126, send timeouts 0, received 35, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 771, adv 36311/37159
2025-04-29 06:24:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10435, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:24:11 [info] currentZPosition:0.0182
2025-04-29 06:24:11 [debug] Stopped at height 0.017 mm
2025-04-29 06:24:12 [debug] Stopped at height 0.017 mm
2025-04-29 06:24:12 [debug] Diagnostics for board 50:
2025-04-29 06:24:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:24:12 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:12:04 ago, cause: software
2025-04-29 06:24:12 [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
2025-04-29 06:24:12 [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
2025-04-29 06:24:12 [debug] Moves scheduled 31255, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=546, frequency (Hz): min=1633, max=15306
Sync err accum 67, peak jitter -1/2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 848906643 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:24:12 [debug] Driver 0: pos -9619, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 21128, writes 0 timeouts 0
2025-04-29 06:24:12 [debug] Last sensors broadcast 0x00000000 found 0 154 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 97, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36014/37130
2025-04-29 06:24:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10464, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:24:12 [info] currentZPosition:0.0169
2025-04-29 06:24:14 [debug] Stopped at height 0.018 mm
2025-04-29 06:24:14 [debug] Diagnostics for board 50:
2025-04-29 06:24:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:24:14 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.1%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:12:05 ago, cause: software
2025-04-29 06:24:14 [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
2025-04-29 06:24:14 [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
2025-04-29 06:24:14 [debug] Moves scheduled 31259, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=534, frequency (Hz): min=1644, max=15306
Sync err accum 72, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 847898517 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 3
2025-04-29 06:24:14 [debug] Driver 0: pos -9609, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15983, writes 0 timeouts 0
2025-04-29 06:24:14 [debug] Last sensors broadcast 0x00000000 found 0 249 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 80, 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 411, adv 36303/37134
2025-04-29 06:24:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10410, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:24:14 [info] currentZPosition:0.0179
2025-04-29 06:24:15 [debug] Stopped at height 0.018 mm
2025-04-29 06:24:15 [debug] Diagnostics for board 50:
2025-04-29 06:24:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:24:15 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:12:06 ago, cause: software
2025-04-29 06:24:15 [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
2025-04-29 06:24:15 [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
2025-04-29 06:24:15 [debug] Moves scheduled 31263, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=518, frequency (Hz): min=691, max=15306
Sync err accum 76, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 846832451 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: 
2025-04-29 06:24:15 [debug] Driver 0: pos -9610, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16843, writes 11 timeouts 1
2025-04-29 06:24:15 [debug] Last sensors broadcast 0x00000000 found 0 169 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 78, 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 381, adv 36024/37136
2025-04-29 06:24:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10437, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:24:15 [info] currentZPosition:0.0178
2025-04-29 06:24:17 [debug] Stopped at height 0.015 mm
2025-04-29 06:24:17 [debug] Diagnostics for board 50:
2025-04-29 06:24:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:24:17 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:12:08 ago, cause: software
2025-04-29 06:24:17 [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
2025-04-29 06:24:17 [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
2025-04-29 06:24:17 [debug] Moves scheduled 31267, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 280, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=469, frequency (Hz): min=1602, max=15306
Sync err accum 76, peak jitter -1/1, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 845751813 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 06:24:17 [debug] Driver 0: pos -9637, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16989, writes 0 timeouts 0
2025-04-29 06:24:17 [debug] Last sensors broadcast 0x00000000 found 0 112 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 95, 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 390, adv 36095/37134
2025-04-29 06:24:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10585, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2282
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:24:17 [info] currentZPosition:0.0151
2025-04-29 06:24:17 [debug] Stopped at height 0.014 mm
2025-04-29 06:24:18 [warn] Error: G30: Probe already triggered at start of probing move
2025-04-29 06:24:18 [debug] Diagnostics for board 50:
2025-04-29 06:24:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:24:18 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.1%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:12:09 ago, cause: software
2025-04-29 06:24:18 [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
2025-04-29 06:24:18 [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
2025-04-29 06:24:18 [debug] Moves scheduled 31272, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=542, frequency (Hz): min=623, max=15306
Sync err accum 73, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 844630073 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 3
2025-04-29 06:24:18 [debug] Driver 0: pos -9561, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17576, writes 11 timeouts 1
2025-04-29 06:24:18 [debug] Last sensors broadcast 0x00000000 found 0 104 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 90, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36031/37157
2025-04-29 06:24:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2266
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10168, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4710, no error
Lin: Encoder reverse polarity: no, raw count 2261
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:24:18 [info] currentZPosition:0.0227
2025-04-29 06:24:19 [debug] Stopped at height 0.016 mm
2025-04-29 06:24:19 [debug] Stopped at height 0.015 mm
2025-04-29 06:24:20 [debug] Stopped at height 0.018 mm
2025-04-29 06:24:20 [debug] Diagnostics for board 50:
2025-04-29 06:24:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:24:20 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.2%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:12:11 ago, cause: software
2025-04-29 06:24:20 [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
2025-04-29 06:24:20 [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
2025-04-29 06:24:20 [debug] Moves scheduled 31280, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=578, frequency (Hz): min=623, max=15306
Sync err accum 63, peak jitter -2/0, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 843039446 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, curr
2025-04-29 06:24:20 [debug] Driver 0: pos -9609, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 25428, writes 11 timeouts 1
2025-04-29 06:24:20 [debug] Last sensors broadcast 0x00000000 found 0 228 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 110, send timeouts 0, received 35, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36068/37113
2025-04-29 06:24:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10401, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4696, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:24:20 [info] currentZPosition:0.0179
2025-04-29 06:24:21 [debug] Stopped at height 0.017 mm
2025-04-29 06:24:22 [debug] Stopped at height 0.017 mm
2025-04-29 06:24:22 [debug] Diagnostics for board 50:
2025-04-29 06:24:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:24:22 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:12:13 ago, cause: software
2025-04-29 06:24:22 [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
2025-04-29 06:24:22 [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
2025-04-29 06:24:22 [debug] Moves scheduled 31286, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=725, frequency (Hz): min=1194, max=15306
Sync err accum 70, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 841728523 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, curr
2025-04-29 06:24:22 [debug] Driver 0: pos -9617, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20952, writes 0 timeouts 0
2025-04-29 06:24:22 [debug] Last sensors broadcast 0x00000000 found 0 226 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 90, 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 376, adv 36053/37162
2025-04-29 06:24:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10475, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:24:22 [info] currentZPosition:0.0171
2025-04-29 06:24:23 [debug] Stopped at height 0.017 mm
2025-04-29 06:24:23 [debug] Diagnostics for board 50:
2025-04-29 06:24:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:24:23 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.2%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:12:15 ago, cause: software
2025-04-29 06:24:23 [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
2025-04-29 06:24:23 [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
2025-04-29 06:24:23 [debug] Moves scheduled 31290, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=548, frequency (Hz): min=1543, max=15306
Sync err accum 73, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 840700735 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:24:23 [debug] Driver 0: pos -9617, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16225, writes 0 timeouts 0
2025-04-29 06:24:23 [debug] Last sensors broadcast 0x00000000 found 0 96 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 84, 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 375, adv 36090/37118
2025-04-29 06:24:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10424, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:24:23 [info] currentZPosition:0.0171
2025-04-29 06:24:25 [debug] Stopped at height 0.017 mm
2025-04-29 06:24:25 [debug] Diagnostics for board 50:
2025-04-29 06:24:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:24:25 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:12:16 ago, cause: software
2025-04-29 06:24:25 [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
2025-04-29 06:24:25 [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
2025-04-29 06:24:25 [debug] Moves scheduled 31294, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 330, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=577, frequency (Hz): min=1334, max=15306
Sync err accum 74, peak jitter -1/1, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 839638452 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:24:25 [debug] Driver 0: pos -9617, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16784, writes 0 timeouts 0
2025-04-29 06:24:25 [debug] Last sensors broadcast 0x00000000 found 0 12 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 84, 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 375, adv 36070/37169
2025-04-29 06:24:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10439, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:24:25 [info] currentZPosition:0.0171
2025-04-29 06:24:26 [debug] Stopped at height 0.016 mm
2025-04-29 06:24:26 [debug] Diagnostics for board 50:
2025-04-29 06:24:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:24:26 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:12:17 ago, cause: software
2025-04-29 06:24:26 [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
2025-04-29 06:24:26 [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
2025-04-29 06:24:26 [debug] Moves scheduled 31298, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 293, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=806, frequency (Hz): min=1181, max=15306
Sync err accum 73, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 838586424 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:24:26 [debug] Driver 0: pos -9630, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16568, writes 0 timeouts 0
2025-04-29 06:24:26 [debug] Last sensors broadcast 0x00000000 found 0 164 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 89, 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 340, adv 36106/37143
2025-04-29 06:24:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2282
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10579, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:24:26 [info] currentZPosition:0.0158
2025-04-29 06:24:27 [debug] Stopped at height 0.014 mm
2025-04-29 06:24:28 [debug] Stopped at height 0.017 mm
2025-04-29 06:24:28 [debug] Diagnostics for board 50:
2025-04-29 06:24:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:24:28 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:12:19 ago, cause: software
2025-04-29 06:24:28 [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
2025-04-29 06:24:28 [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
2025-04-29 06:24:28 [debug] Moves scheduled 31304, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 328, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=728, frequency (Hz): min=1121, max=15306
Sync err accum 64, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 837299061 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:24:28 [debug] Driver 0: pos -9618, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20357, writes 0 timeouts 0
2025-04-29 06:24:28 [debug] Last sensors broadcast 0x00000000 found 0 131 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 110, 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 408, adv 36000/37093
2025-04-29 06:24:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10471, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:24:28 [info] currentZPosition:0.0170
2025-04-29 06:24:28 [debug] Stopped at height 0.017 mm
2025-04-29 06:24:29 [debug] Stopped at height 0.018 mm
2025-04-29 06:24:29 [debug] Diagnostics for board 50:
2025-04-29 06:24:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:24:29 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.7%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:12:21 ago, cause: software
2025-04-29 06:24:29 [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
2025-04-29 06:24:29 [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
2025-04-29 06:24:29 [debug] Moves scheduled 31310, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=496, frequency (Hz): min=1781, max=15306
Sync err accum 66, peak jitter -1/2, peak Rx delay 195, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 836050374 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:24:29 [debug] Driver 0: pos -9611, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 19894, writes 0 timeouts 0
2025-04-29 06:24:29 [debug] Last sensors broadcast 0x00000000 found 0 45 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 90, 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 448, adv 36040/37170
2025-04-29 06:24:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10459, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:24:30 [info] currentZPosition:0.0177
2025-04-29 06:24:31 [debug] Stopped at height 0.017 mm
2025-04-29 06:24:31 [debug] Diagnostics for board 50:
2025-04-29 06:24:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:24:31 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:12:22 ago, cause: software
2025-04-29 06:24:31 [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
2025-04-29 06:24:31 [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
2025-04-29 06:24:31 [debug] Moves scheduled 31314, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=602, frequency (Hz): min=1241, max=15306
Sync err accum 74, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 834980873 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, curr
2025-04-29 06:24:31 [debug] Driver 0: pos -9615, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16919, writes 0 timeouts 0
2025-04-29 06:24:31 [debug] Last sensors broadcast 0x00000000 found 0 222 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 81, 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 388, adv 36061/37085
2025-04-29 06:24:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10415, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:24:31 [info] currentZPosition:0.0173
2025-04-29 06:24:32 [debug] Stopped at height 0.018 mm
2025-04-29 06:24:32 [debug] Diagnostics for board 50:
2025-04-29 06:24:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:24:32 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:12:24 ago, cause: software
2025-04-29 06:24:32 [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
2025-04-29 06:24:32 [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
2025-04-29 06:24:32 [debug] Moves scheduled 31318, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=604, frequency (Hz): min=1494, max=15306
Sync err accum 76, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 833962410 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 3
2025-04-29 06:24:32 [debug] Driver 0: pos -9611, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16102, writes 0 timeouts 0
2025-04-29 06:24:32 [debug] Last sensors broadcast 0x00000000 found 0 82 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 81, 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 474, adv 36064/37115
2025-04-29 06:24:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10461, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:24:32 [info] currentZPosition:0.0177
2025-04-29 06:24:34 [debug] Stopped at height 0.015 mm
2025-04-29 06:24:34 [debug] Diagnostics for board 50:
2025-04-29 06:24:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:24:34 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:12:25 ago, cause: software
2025-04-29 06:24:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:24:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:24:34 [debug] Moves scheduled 31322, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=713, frequency (Hz): min=1299, max=15306
Sync err accum 73, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 832848137 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:24:34 [debug] Driver 0: pos -9637, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17502, writes 0 timeouts 0
2025-04-29 06:24:34 [debug] Last sensors broadcast 0x00000000 found 0 66 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 97, 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 375, adv 36069/37087
2025-04-29 06:24:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2283
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10595, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4697, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:24:34 [info] currentZPosition:0.0151
2025-04-29 06:24:34 [debug] Stopped at height 0.014 mm
2025-04-29 06:24:35 [debug] Stopped at height 0.017 mm
2025-04-29 06:24:35 [debug] Diagnostics for board 50:
2025-04-29 06:24:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:24:35 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:12:27 ago, cause: software
2025-04-29 06:24:35 [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
2025-04-29 06:24:35 [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
2025-04-29 06:24:35 [debug] Moves scheduled 31328, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=572, frequency (Hz): min=1409, max=15306
Sync err accum 68, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 831612392 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 06:24:35 [debug] Driver 0: pos -9619, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 19504, writes 0 timeouts 0
2025-04-29 06:24:35 [debug] Last sensors broadcast 0x00000000 found 0 216 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 99, 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 367, adv 36127/37122
2025-04-29 06:24:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10451, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:24:36 [info] currentZPosition:0.0170
2025-04-29 06:24:36 [debug] Stopped at height 0.015 mm
2025-04-29 06:24:37 [debug] Stopped at height 0.016 mm
2025-04-29 06:24:37 [debug] Diagnostics for board 50:
2025-04-29 06:24:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:24:37 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.2%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:12:28 ago, cause: software
2025-04-29 06:24:37 [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
2025-04-29 06:24:37 [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
2025-04-29 06:24:37 [debug] Moves scheduled 31334, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=625, frequency (Hz): min=1506, max=15957
Sync err accum 66, peak jitter -2/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 830301736 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:24:37 [debug] Driver 0: pos -9626, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20742, writes 0 timeouts 0
2025-04-29 06:24:37 [debug] Last sensors broadcast 0x00000000 found 0 212 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 113, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36079/37093
2025-04-29 06:24:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10490, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:24:37 [info] currentZPosition:0.0164
2025-04-29 06:24:38 [debug] Stopped at height 0.017 mm
2025-04-29 06:24:38 [debug] Diagnostics for board 50:
2025-04-29 06:24:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:24:38 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:12:30 ago, cause: software
2025-04-29 06:24:38 [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
2025-04-29 06:24:38 [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
2025-04-29 06:24:38 [debug] Moves scheduled 31338, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=500, frequency (Hz): min=1396, max=15306
Sync err accum 74, peak jitter 1/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 829291700 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, curr
2025-04-29 06:24:38 [debug] Driver 0: pos -9617, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15905, writes 0 timeouts 0
2025-04-29 06:24:38 [debug] Last sensors broadcast 0x00000000 found 0 57 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 84, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36064/37154
2025-04-29 06:24:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10474, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:24:39 [info] currentZPosition:0.0173
2025-04-29 06:24:40 [debug] Stopped at height 0.017 mm
2025-04-29 06:24:40 [debug] Diagnostics for board 50:
2025-04-29 06:24:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:24:40 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 17:12:31 ago, cause: software
2025-04-29 06:24:40 [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
2025-04-29 06:24:40 [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
2025-04-29 06:24:40 [debug] Moves scheduled 31342, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 226, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=525, frequency (Hz): min=1388, max=15306
Sync err accum 78, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 828225147 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-29 06:24:40 [debug] Driver 0: pos -9618, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16894, writes 0 timeouts 0
2025-04-29 06:24:40 [debug] Last sensors broadcast 0x00000000 found 0 231 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 83, 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 364, adv 36061/37156
2025-04-29 06:24:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10481, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:24:40 [info] currentZPosition:0.0172
2025-04-29 06:24:41 [debug] Stopped at height 0.018 mm
2025-04-29 06:24:41 [debug] Diagnostics for board 50:
2025-04-29 06:24:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:24:41 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:12:33 ago, cause: software
2025-04-29 06:24:41 [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
2025-04-29 06:24:41 [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
2025-04-29 06:24:41 [debug] Moves scheduled 31346, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 297, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=537, frequency (Hz): min=1423, max=15306
Sync err accum 76, peak jitter -1/1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 827207460 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 06:24:41 [debug] Driver 0: pos -9613, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15962, writes 0 timeouts 0
2025-04-29 06:24:41 [debug] Last sensors broadcast 0x00000000 found 0 85 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 82, 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 356, adv 36138/37108
2025-04-29 06:24:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2279
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10438, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:24:41 [info] currentZPosition:0.0177
2025-04-29 06:24:43 [debug] Stopped at height 0.016 mm
2025-04-29 06:24:43 [debug] Diagnostics for board 50:
2025-04-29 06:24:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:24:43 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 17:12:34 ago, cause: software
2025-04-29 06:24:43 [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
2025-04-29 06:24:43 [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
2025-04-29 06:24:43 [debug] Moves scheduled 31350, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 244, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=524, frequency (Hz): min=1670, max=15306
Sync err accum 73, peak jitter -1/0, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 826101208 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:24:43 [debug] Driver 0: pos -9634, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17363, writes 0 timeouts 0
2025-04-29 06:24:43 [debug] Last sensors broadcast 0x00000000 found 0 63 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 103, 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 369, adv 36073/37124
2025-04-29 06:24:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2283
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10600, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2279
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:24:43 [info] currentZPosition:0.0156
2025-04-29 06:24:43 [debug] Stopped at height 0.015 mm
2025-04-29 06:24:44 [debug] Stopped at height 0.017 mm
2025-04-29 06:24:44 [debug] Diagnostics for board 50:
2025-04-29 06:24:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:24:44 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:12:36 ago, cause: software
2025-04-29 06:24:44 [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
2025-04-29 06:24:44 [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
2025-04-29 06:24:44 [debug] Moves scheduled 31356, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=486, frequency (Hz): min=1256, max=15306
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 824869616 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:24:44 [debug] Driver 0: pos -9616, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 19484, writes 0 timeouts 0
2025-04-29 06:24:44 [debug] Last sensors broadcast 0x00000000 found 0 205 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 92, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36059/37112
2025-04-29 06:24:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2279
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10445, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:24:44 [info] currentZPosition:0.0174
2025-04-29 06:24:45 [debug] Stopped at height 0.017 mm
2025-04-29 06:24:46 [debug] Stopped at height 0.018 mm
2025-04-29 06:24:46 [debug] Diagnostics for board 50:
2025-04-29 06:24:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:24:46 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.4%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:12:37 ago, cause: software
2025-04-29 06:24:46 [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
2025-04-29 06:24:46 [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
2025-04-29 06:24:46 [debug] Moves scheduled 31362, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=613, frequency (Hz): min=1391, max=15306
Sync err accum 66, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 823585140 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 06:24:46 [debug] Driver 0: pos -9611, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20523, writes 0 timeouts 0
2025-04-29 06:24:46 [debug] Last sensors broadcast 0x00000000 found 0 168 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 91, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36022/37138
2025-04-29 06:24:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10419, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4697, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:24:46 [info] currentZPosition:0.0179
2025-04-29 06:24:47 [debug] Stopped at height 0.017 mm
2025-04-29 06:24:47 [debug] Diagnostics for board 50:
2025-04-29 06:24:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:24:47 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:12:39 ago, cause: software
2025-04-29 06:24:47 [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
2025-04-29 06:24:47 [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
2025-04-29 06:24:47 [debug] Moves scheduled 31366, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 286, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=669, frequency (Hz): min=1227, max=15306
Sync err accum 69, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 822541281 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, curr
2025-04-29 06:24:47 [debug] Driver 0: pos -9621, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16479, writes 0 timeouts 0
2025-04-29 06:24:47 [debug] Last sensors broadcast 0x00000000 found 0 59 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 90, 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 372, adv 36112/37142
2025-04-29 06:24:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10476, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2279
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:24:48 [info] currentZPosition:0.0169
2025-04-29 06:24:49 [debug] Stopped at height 0.018 mm
2025-04-29 06:24:49 [debug] Diagnostics for board 50:
2025-04-29 06:24:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:24:49 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:12:40 ago, cause: software
2025-04-29 06:24:49 [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
2025-04-29 06:24:49 [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
2025-04-29 06:24:49 [debug] Moves scheduled 31370, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=709, frequency (Hz): min=1219, max=15306
Sync err accum 69, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 821501825 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:24:49 [debug] Driver 0: pos -9609, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16386, writes 0 timeouts 0
2025-04-29 06:24:49 [debug] Last sensors broadcast 0x00000000 found 0 196 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 79, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36028/37127
2025-04-29 06:24:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10410, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:24:49 [info] currentZPosition:0.0181
2025-04-29 06:24:50 [debug] Stopped at height 0.017 mm
2025-04-29 06:24:50 [debug] Diagnostics for board 50:
2025-04-29 06:24:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:24:50 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.2%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:12:42 ago, cause: software
2025-04-29 06:24:50 [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
2025-04-29 06:24:50 [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
2025-04-29 06:24:50 [debug] Moves scheduled 31374, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=502, frequency (Hz): min=1425, max=15306
Sync err accum 68, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 820455408 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:24:50 [debug] Driver 0: pos -9620, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16494, writes 0 timeouts 0
2025-04-29 06:24:50 [debug] Last sensors broadcast 0x00000000 found 0 89 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 85, 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 386, adv 36063/37123
2025-04-29 06:24:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2280
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10465, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:24:50 [info] currentZPosition:0.0170
2025-04-29 06:24:52 [debug] Stopped at height 0.017 mm
2025-04-29 06:24:52 [debug] Diagnostics for board 50:
2025-04-29 06:24:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:24:52 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:12:43 ago, cause: software
2025-04-29 06:24:52 [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
2025-04-29 06:24:52 [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
2025-04-29 06:24:52 [debug] Moves scheduled 31378, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=510, frequency (Hz): min=1623, max=15306
Sync err accum 64, peak jitter -2/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 819400758 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 06:24:52 [debug] Driver 0: pos -9616, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16664, writes 0 timeouts 0
2025-04-29 06:24:52 [debug] Last sensors broadcast 0x00000000 found 0 246 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 83, 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 403, adv 36014/37121
2025-04-29 06:24:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2279
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10468, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:24:52 [info] currentZPosition:0.0174
2025-04-29 06:24:53 [debug] Stopped at height 0.018 mm
2025-04-29 06:24:53 [debug] Diagnostics for board 50:
2025-04-29 06:24:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:24:53 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:12:44 ago, cause: software
2025-04-29 06:24:53 [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
2025-04-29 06:24:53 [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
2025-04-29 06:24:53 [debug] Moves scheduled 31382, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=756, frequency (Hz): min=1256, max=15625
Sync err accum 66, peak jitter -1/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 818376329 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 06:24:53 [debug] Driver 0: pos -9614, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16233, writes 0 timeouts 0
2025-04-29 06:24:53 [debug] Last sensors broadcast 0x00000000 found 0 113 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 82, 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 378, adv 36080/37122
2025-04-29 06:24:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10415, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:24:53 [info] currentZPosition:0.0177
2025-04-29 06:24:54 [debug] Stopped at height 0.018 mm
2025-04-29 06:24:54 [debug] Diagnostics for board 50:
2025-04-29 06:24:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:24:54 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:12:46 ago, cause: software
2025-04-29 06:24:54 [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
2025-04-29 06:24:54 [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
2025-04-29 06:24:54 [debug] Moves scheduled 31386, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=429, frequency (Hz): min=1644, max=15306
Sync err accum 65, peak jitter -1/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 817330799 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 06:24:54 [debug] Driver 0: pos -9606, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16524, writes 0 timeouts 0
2025-04-29 06:24:54 [debug] Last sensors broadcast 0x00000000 found 0 6 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 80, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 36041/37113
2025-04-29 06:24:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10444, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4707, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:24:55 [info] currentZPosition:0.0185
2025-04-29 06:24:56 [debug] Stopped at height 0.018 mm
2025-04-29 06:24:56 [debug] Diagnostics for board 50:
2025-04-29 06:24:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:24:56 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.1%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:12:47 ago, cause: software
2025-04-29 06:24:56 [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
2025-04-29 06:24:56 [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
2025-04-29 06:24:56 [debug] Moves scheduled 31390, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 381, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=533, frequency (Hz): min=1282, max=15306
Sync err accum 64, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 816298645 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 06:24:56 [debug] Driver 0: pos -9610, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16337, writes 0 timeouts 0
2025-04-29 06:24:56 [debug] Last sensors broadcast 0x00000000 found 0 131 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 78, send timeouts 0, received 22, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36110/37074
2025-04-29 06:24:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10430, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:24:56 [info] currentZPosition:0.0181
2025-04-29 06:24:57 [debug] Stopped at height 0.017 mm
2025-04-29 06:24:57 [debug] Diagnostics for board 50:
2025-04-29 06:24:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:24:57 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:12:49 ago, cause: software
2025-04-29 06:24:57 [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
2025-04-29 06:24:57 [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
2025-04-29 06:24:57 [debug] Moves scheduled 31394, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=552, frequency (Hz): min=1315, max=15625
Sync err accum 69, peak jitter -1/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 0 ticks, disabled, next step interrupt due in 815227867 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:24:57 [debug] Driver 0: pos -9617, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17022, writes 0 timeouts 0
2025-04-29 06:24:57 [debug] Last sensors broadcast 0x00000000 found 0 62 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 84, 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 379, adv 36084/37112
2025-04-29 06:24:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10475, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4697, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:24:57 [info] currentZPosition:0.0174
2025-04-29 06:24:59 [debug] Stopped at height 0.018 mm
2025-04-29 06:24:59 [debug] Diagnostics for board 50:
2025-04-29 06:24:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:24:59 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.0%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:12:50 ago, cause: software
2025-04-29 06:24:59 [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
2025-04-29 06:24:59 [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
2025-04-29 06:24:59 [debug] Moves scheduled 31398, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=654, frequency (Hz): min=1315, max=15306
Sync err accum 73, peak jitter 0/1, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 814200375 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 3
2025-04-29 06:24:59 [debug] Driver 0: pos -9616, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16280, writes 0 timeouts 0
2025-04-29 06:24:59 [debug] Last sensors broadcast 0x00000000 found 0 180 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 82, 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 414, adv 36075/37090
2025-04-29 06:24:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10462, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:24:59 [info] currentZPosition:0.0176
2025-04-29 06:25:00 [debug] Stopped at height 0.017 mm
2025-04-29 06:25:00 [debug] Diagnostics for board 50:
2025-04-29 06:25:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:25:00 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:12:51 ago, cause: software
2025-04-29 06:25:00 [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
2025-04-29 06:25:00 [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
2025-04-29 06:25:00 [debug] Moves scheduled 31402, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=601, frequency (Hz): min=1373, max=15625
Sync err accum 76, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 813126187 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 3
2025-04-29 06:25:00 [debug] Driver 0: pos -9622, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16974, writes 0 timeouts 0
2025-04-29 06:25:00 [debug] Last sensors broadcast 0x00000000 found 0 112 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 88, 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 354, adv 36043/37112
2025-04-29 06:25:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2280
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10489, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:25:00 [info] currentZPosition:0.0170
2025-04-29 06:25:01 [debug] Stopped at height 0.017 mm
2025-04-29 06:25:01 [debug] Diagnostics for board 50:
2025-04-29 06:25:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:25:01 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:12:53 ago, cause: software
2025-04-29 06:25:01 [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
2025-04-29 06:25:01 [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
2025-04-29 06:25:01 [debug] Moves scheduled 31406, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 374, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=637, frequency (Hz): min=787, max=15306
Sync err accum 75, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 812093487 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-29 06:25:01 [debug] Driver 0: pos -9625, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16286, writes 11 timeouts 1
2025-04-29 06:25:01 [debug] Last sensors broadcast 0x00000000 found 0 242 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 86, 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 380, adv 36036/37170
2025-04-29 06:25:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10509, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2279
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:25:02 [info] currentZPosition:0.0167
2025-04-29 06:25:03 [debug] Stopped at height 0.018 mm
2025-04-29 06:25:03 [debug] Diagnostics for board 50:
2025-04-29 06:25:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:25:03 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 17:12:54 ago, cause: software
2025-04-29 06:25:03 [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
2025-04-29 06:25:03 [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
2025-04-29 06:25:03 [debug] Moves scheduled 31410, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 377, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=566, frequency (Hz): min=1436, max=15306
Sync err accum 70, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 811044793 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 06:25:03 [debug] Driver 0: pos -9616, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16515, writes 0 timeouts 0
2025-04-29 06:25:03 [debug] Last sensors broadcast 0x00000000 found 0 137 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 85, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 392, adv 36010/37166
2025-04-29 06:25:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2280
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10439, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:25:03 [info] currentZPosition:0.0176
2025-04-29 06:25:04 [debug] Stopped at height 0.017 mm
2025-04-29 06:25:04 [debug] Diagnostics for board 50:
2025-04-29 06:25:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:25:04 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:12:56 ago, cause: software
2025-04-29 06:25:04 [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
2025-04-29 06:25:04 [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
2025-04-29 06:25:04 [debug] Moves scheduled 31414, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=604, frequency (Hz): min=1407, max=19230
Sync err accum 62, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 0 ticks, disabled, CC0 mismatch!!, next step interrupt due in 810011869 ticks, 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
2025-04-29 06:25:04 [debug] Driver 0: pos -9617, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16319, writes 0 timeouts 0
2025-04-29 06:25:04 [debug] Last sensors broadcast 0x00000000 found 0 15 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 82, 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 379, adv 36150/37087
2025-04-29 06:25:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2279
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10466, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:25:04 [info] currentZPosition:0.0175
2025-04-29 06:25:06 [debug] Stopped at height 0.018 mm
2025-04-29 06:25:06 [debug] Diagnostics for board 50:
2025-04-29 06:25:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:25:06 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:12:57 ago, cause: software
2025-04-29 06:25:06 [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
2025-04-29 06:25:06 [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
2025-04-29 06:25:06 [debug] Moves scheduled 31418, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=562, frequency (Hz): min=1273, max=15306
Sync err accum 73, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 808960114 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-29 06:25:06 [debug] Driver 0: pos -9612, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16679, writes 0 timeouts 0
2025-04-29 06:25:06 [debug] Last sensors broadcast 0x00000000 found 0 170 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 83, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36051/37116
2025-04-29 06:25:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10416, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:25:06 [info] currentZPosition:0.0180
2025-04-29 06:25:07 [debug] Stopped at height 0.017 mm
2025-04-29 06:25:07 [debug] Diagnostics for board 50:
2025-04-29 06:25:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:25:07 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:12:58 ago, cause: software
2025-04-29 06:25:07 [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
2025-04-29 06:25:07 [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
2025-04-29 06:25:07 [debug] Moves scheduled 31422, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 365, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=633, frequency (Hz): min=1436, max=15306
Sync err accum 81, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 1 ticks, disabled, next step interrupt due in 807911777 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:25:07 [debug] Driver 0: pos -9622, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16527, writes 0 timeouts 0
2025-04-29 06:25:07 [debug] Last sensors broadcast 0x00000000 found 0 64 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 88, send timeouts 0, received 22, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36063/37123
2025-04-29 06:25:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10453, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4697, no error
Lin: Encoder reverse polarity: no, raw count 2280
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:25:07 [info] currentZPosition:0.0170
2025-04-29 06:25:08 [debug] Stopped at height 0.018 mm
2025-04-29 06:25:08 [debug] Diagnostics for board 50:
2025-04-29 06:25:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:25:08 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:13:00 ago, cause: software
2025-04-29 06:25:08 [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
2025-04-29 06:25:08 [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
2025-04-29 06:25:08 [debug] Moves scheduled 31426, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 331, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=517, frequency (Hz): min=1651, max=15306
Sync err accum 88, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 806869511 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, curr
2025-04-29 06:25:08 [debug] Driver 0: pos -9609, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16471, writes 0 timeouts 0
2025-04-29 06:25:08 [debug] Last sensors broadcast 0x00000000 found 0 203 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 79, 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 671, adv 36058/37066
2025-04-29 06:25:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10455, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:25:08 [info] currentZPosition:0.0183
2025-04-29 06:25:09 [debug] Stopped at height 0.018 mm
2025-04-29 06:25:10 [debug] Stopped at height 0.017 mm
2025-04-29 06:25:10 [debug] Diagnostics for board 50:
2025-04-29 06:25:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:25:10 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.5%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:13:01 ago, cause: software
2025-04-29 06:25:10 [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
2025-04-29 06:25:10 [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
2025-04-29 06:25:10 [debug] Moves scheduled 31432, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=568, frequency (Hz): min=1648, max=15306
Sync err accum 94, peak jitter -1/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 805589152 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 06:25:10 [debug] Driver 0: pos -9620, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20439, writes 0 timeouts 0
2025-04-29 06:25:10 [debug] Last sensors broadcast 0x00000000 found 0 161 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 94, 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 559, adv 36143/37115
2025-04-29 06:25:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10435, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:25:10 [info] currentZPosition:0.0173
2025-04-29 06:25:12 [debug] Stopped at height 0.015 mm
2025-04-29 06:25:12 [debug] Diagnostics for board 50:
2025-04-29 06:25:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:25:12 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:13:03 ago, cause: software
2025-04-29 06:25:12 [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
2025-04-29 06:25:12 [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
2025-04-29 06:25:12 [debug] Moves scheduled 31436, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=516, frequency (Hz): min=1453, max=15306
Sync err accum 94, peak jitter -1/1, peak Rx delay 187, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 804487740 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:25:12 [debug] Driver 0: pos -9640, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17315, writes 0 timeouts 0
2025-04-29 06:25:12 [debug] Last sensors broadcast 0x00000000 found 0 131 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 102, 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 483, adv 36009/37088
2025-04-29 06:25:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2280
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10604, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2283
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:25:12 [info] currentZPosition:0.0153
2025-04-29 06:25:12 [debug] Stopped at height 0.014 mm
2025-04-29 06:25:13 [debug] Stopped at height 0.016 mm
2025-04-29 06:25:13 [debug] Diagnostics for board 50:
2025-04-29 06:25:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:25:13 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.0%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:13:05 ago, cause: software
2025-04-29 06:25:13 [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
2025-04-29 06:25:13 [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
2025-04-29 06:25:13 [debug] Moves scheduled 31442, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=753, frequency (Hz): min=1258, max=15306
Sync err accum 88, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 803213752 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:25:13 [debug] Driver 0: pos -9637, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20007, writes 0 timeouts 0
2025-04-29 06:25:13 [debug] Last sensors broadcast 0x00000000 found 0 85 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 123, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36209/37144
2025-04-29 06:25:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10571, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2283
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:25:13 [info] currentZPosition:0.0156
2025-04-29 06:25:15 [debug] Stopped at height 0.017 mm
2025-04-29 06:25:15 [debug] Diagnostics for board 50:
2025-04-29 06:25:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:25:15 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:13:06 ago, cause: software
2025-04-29 06:25:15 [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
2025-04-29 06:25:15 [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
2025-04-29 06:25:15 [debug] Moves scheduled 31446, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 240, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=585, frequency (Hz): min=602, max=15306
Sync err accum 82, peak jitter -2/0, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 802166803 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 3
2025-04-29 06:25:15 [debug] Driver 0: pos -9625, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16340, writes 11 timeouts 1
2025-04-29 06:25:15 [debug] Last sensors broadcast 0x00000000 found 0 223 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 84, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 369, adv 36077/37174
2025-04-29 06:25:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2279
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10530, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:25:15 [info] currentZPosition:0.0168
2025-04-29 06:25:16 [debug] Stopped at height 0.017 mm
2025-04-29 06:25:16 [debug] Diagnostics for board 50:
2025-04-29 06:25:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:25:16 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.7%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:13:07 ago, cause: software
2025-04-29 06:25:16 [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
2025-04-29 06:25:16 [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
2025-04-29 06:25:16 [debug] Moves scheduled 31450, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=742, frequency (Hz): min=1080, max=15306
Sync err accum 69, peak jitter -3/-1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 801152791 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max
2025-04-29 06:25:16 [debug] Driver 0: pos -9620, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16011, writes 0 timeouts 0
2025-04-29 06:25:16 [debug] Last sensors broadcast 0x00000000 found 0 77 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 82, 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 348, adv 36379/37122
2025-04-29 06:25:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10447, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2279
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:25:16 [info] currentZPosition:0.0173
2025-04-29 06:25:17 [debug] Stopped at height 0.018 mm
2025-04-29 06:25:17 [debug] Diagnostics for board 50:
2025-04-29 06:25:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:25:17 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.1%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:13:09 ago, cause: software
2025-04-29 06:25:17 [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
2025-04-29 06:25:17 [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
2025-04-29 06:25:17 [debug] Moves scheduled 31454, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 611, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=708, frequency (Hz): min=1306, max=15306
Sync err accum 60, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 800103847 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:25:17 [debug] Driver 0: pos -9613, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16614, writes 0 timeouts 0
2025-04-29 06:25:17 [debug] Last sensors broadcast 0x00000000 found 0 225 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 83, 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 396, adv 36006/37094
2025-04-29 06:25:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2279
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10449, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:25:18 [info] currentZPosition:0.0180
2025-04-29 06:25:19 [debug] Stopped at height 0.016 mm
2025-04-29 06:25:19 [debug] Diagnostics for board 50:
2025-04-29 06:25:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:25:19 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 17:13:10 ago, cause: software
2025-04-29 06:25:19 [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
2025-04-29 06:25:19 [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
2025-04-29 06:25:19 [debug] Moves scheduled 31458, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 240, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=684, frequency (Hz): min=1273, max=15306
Sync err accum 73, peak jitter 0/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 799038854 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, curr
2025-04-29 06:25:19 [debug] Driver 0: pos -9632, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16741, writes 0 timeouts 0
2025-04-29 06:25:19 [debug] Last sensors broadcast 0x00000000 found 0 145 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 92, 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 375, adv 36368/37160
2025-04-29 06:25:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2281
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10558, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2279
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:25:19 [info] currentZPosition:0.0161
2025-04-29 06:25:19 [debug] Stopped at height 0.016 mm
2025-04-29 06:25:21 [debug] Stopped at height 0.019 mm
2025-04-29 06:25:21 [debug] Diagnostics for board 50:
2025-04-29 06:25:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:25:21 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:13:12 ago, cause: software
2025-04-29 06:25:21 [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
2025-04-29 06:25:21 [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
2025-04-29 06:25:21 [debug] Moves scheduled 31464, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=612, frequency (Hz): min=1442, max=15306
Sync err accum 86, peak jitter 1/3, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 797785612 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 3
2025-04-29 06:25:21 [debug] Driver 0: pos -9606, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 19806, writes 0 timeouts 0
2025-04-29 06:25:21 [debug] Last sensors broadcast 0x00000000 found 0 65 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 91, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36005/37124
2025-04-29 06:25:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10404, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:25:21 [info] currentZPosition:0.0187
2025-04-29 06:25:21 [debug] Stopped at height 0.019 mm
2025-04-29 06:25:22 [debug] Stopped at height 0.018 mm
2025-04-29 06:25:22 [debug] Diagnostics for board 50:
2025-04-29 06:25:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:25:22 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.5%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:13:14 ago, cause: software
2025-04-29 06:25:22 [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
2025-04-29 06:25:22 [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
2025-04-29 06:25:22 [debug] Moves scheduled 31470, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 306, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=585, frequency (Hz): min=1396, max=15306
Sync err accum 94, peak jitter 0/2, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 796505297 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 3
2025-04-29 06:25:22 [debug] Driver 0: pos -9616, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20427, writes 0 timeouts 0
2025-04-29 06:25:22 [debug] Last sensors broadcast 0x00000000 found 0 24 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 94, 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 397, adv 36300/37123
2025-04-29 06:25:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10433, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:25:22 [info] currentZPosition:0.0177
2025-04-29 06:25:24 [debug] Stopped at height 0.016 mm
2025-04-29 06:25:24 [debug] Diagnostics for board 50:
2025-04-29 06:25:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:25:24 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:13:15 ago, cause: software
2025-04-29 06:25:24 [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
2025-04-29 06:25:24 [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
2025-04-29 06:25:24 [debug] Moves scheduled 31474, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 306, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=552, frequency (Hz): min=1439, max=15306
Sync err accum 98, peak jitter -1/1, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 795405657 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 06:25:24 [debug] Driver 0: pos -9634, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17255, writes 0 timeouts 0
2025-04-29 06:25:24 [debug] Last sensors broadcast 0x00000000 found 0 240 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 97, 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 419, adv 36055/37096
2025-04-29 06:25:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2280
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10560, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4694, no error
Lin: Encoder reverse polarity: no, raw count 2281
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:25:24 [info] currentZPosition:0.0159
2025-04-29 06:25:24 [debug] Stopped at height 0.015 mm
2025-04-29 06:25:25 [debug] Stopped at height 0.018 mm
2025-04-29 06:25:25 [debug] Diagnostics for board 50:
2025-04-29 06:25:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:25:25 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:13:17 ago, cause: software
2025-04-29 06:25:25 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:25:25 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:25:25 [debug] Moves scheduled 31480, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 162, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=609, frequency (Hz): min=1339, max=15306
Sync err accum 100, peak jitter -1/1, peak Rx delay 186, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 794172712 ticks, 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
2025-04-29 06:25:25 [debug] Driver 0: pos -9615, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 19477, writes 0 timeouts 0
2025-04-29 06:25:25 [debug] Last sensors broadcast 0x00000000 found 0 132 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 98, 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 472, adv 36333/37089
2025-04-29 06:25:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10430, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:25:25 [info] currentZPosition:0.0178
2025-04-29 06:25:26 [debug] Stopped at height 0.016 mm
2025-04-29 06:25:27 [debug] Stopped at height 0.018 mm
2025-04-29 06:25:27 [debug] Diagnostics for board 50:
2025-04-29 06:25:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:25:27 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.0%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:13:18 ago, cause: software
2025-04-29 06:25:27 [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
2025-04-29 06:25:27 [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
2025-04-29 06:25:27 [debug] Moves scheduled 31486, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=613, frequency (Hz): min=1363, max=15306
Sync err accum 93, peak jitter -2/0, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 792876489 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:25:27 [debug] Driver 0: pos -9618, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20588, writes 0 timeouts 0
2025-04-29 06:25:27 [debug] Last sensors broadcast 0x00000000 found 0 112 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 114, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36015/37102
2025-04-29 06:25:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10432, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:25:27 [info] currentZPosition:0.0177
2025-04-29 06:25:28 [debug] Stopped at height 0.016 mm
2025-04-29 06:25:29 [debug] Stopped at height 0.017 mm
2025-04-29 06:25:29 [debug] Diagnostics for board 50:
2025-04-29 06:25:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:25:29 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.8%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:13:20 ago, cause: software
2025-04-29 06:25:29 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:25:29 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:25:29 [debug] Moves scheduled 31492, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 316, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=669, frequency (Hz): min=481, max=15625
Sync err accum 84, peak jitter -2/0, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 791586165 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-29 06:25:29 [debug] Driver 0: pos -9630, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20401, writes 11 timeouts 1
2025-04-29 06:25:29 [debug] Last sensors broadcast 0x00000000 found 0 82 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 109, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36294/37115
2025-04-29 06:25:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2280
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10553, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4696, no error
Lin: Encoder reverse polarity: no, raw count 2281
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:25:29 [info] currentZPosition:0.0165
2025-04-29 06:25:30 [debug] Stopped at height 0.018 mm
2025-04-29 06:25:30 [debug] Diagnostics for board 50:
2025-04-29 06:25:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:25:30 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.0%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:13:21 ago, cause: software
2025-04-29 06:25:30 [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
2025-04-29 06:25:30 [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
2025-04-29 06:25:30 [debug] Moves scheduled 31496, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=724, frequency (Hz): min=1239, max=15306
Sync err accum 71, peak jitter -2/-1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 790552679 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:25:30 [debug] Driver 0: pos -9613, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16241, writes 0 timeouts 0
2025-04-29 06:25:30 [debug] Last sensors broadcast 0x00000000 found 0 209 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 80, send timeouts 0, received 22, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36042/37078
2025-04-29 06:25:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10417, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:25:30 [info] currentZPosition:0.0182
2025-04-29 06:25:31 [debug] Stopped at height 0.018 mm
2025-04-29 06:25:32 [debug] Stopped at height 0.018 mm
2025-04-29 06:25:32 [debug] Diagnostics for board 50:
2025-04-29 06:25:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:25:32 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.3%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:13:23 ago, cause: software
2025-04-29 06:25:32 [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
2025-04-29 06:25:32 [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
2025-04-29 06:25:32 [debug] Moves scheduled 31502, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=586, frequency (Hz): min=1196, max=15306
Sync err accum 61, peak jitter -3/1, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 789282254 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:25:32 [debug] Driver 0: pos -9618, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20329, writes 0 timeouts 0
2025-04-29 06:25:32 [debug] Last sensors broadcast 0x00000000 found 0 153 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 88, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36322/37120
2025-04-29 06:25:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2279
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10452, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:25:32 [info] currentZPosition:0.0177
2025-04-29 06:25:33 [debug] Stopped at height 0.018 mm
2025-04-29 06:25:33 [debug] Diagnostics for board 50:
2025-04-29 06:25:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:25:33 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:13:25 ago, cause: software
2025-04-29 06:25:33 [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
2025-04-29 06:25:33 [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
2025-04-29 06:25:33 [debug] Moves scheduled 31506, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=498, frequency (Hz): min=1366, max=15625
Sync err accum 73, peak jitter 1/3, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, CC0 mismatch!!, next step interrupt due in 788231180 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-29 06:25:33 [debug] Driver 0: pos -9613, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16670, writes 0 timeouts 0
2025-04-29 06:25:33 [debug] Last sensors broadcast 0x00000000 found 0 53 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 81, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36000/37121
2025-04-29 06:25:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10432, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:25:33 [info] currentZPosition:0.0182
2025-04-29 06:25:35 [debug] Stopped at height 0.018 mm
2025-04-29 06:25:35 [debug] Diagnostics for board 50:
2025-04-29 06:25:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:25:35 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:13:26 ago, cause: software
2025-04-29 06:25:35 [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
2025-04-29 06:25:35 [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
2025-04-29 06:25:35 [debug] Moves scheduled 31510, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 274, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=577, frequency (Hz): min=1325, max=15306
Sync err accum 83, peak jitter 1/2, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 787200256 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 3
2025-04-29 06:25:35 [debug] Driver 0: pos -9616, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16282, writes 0 timeouts 0
2025-04-29 06:25:35 [debug] Last sensors broadcast 0x00000000 found 0 183 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 80, 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 373, adv 36313/37111
2025-04-29 06:25:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10420, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:25:35 [info] currentZPosition:0.0179
2025-04-29 06:25:36 [debug] Stopped at height 0.017 mm
2025-04-29 06:25:36 [debug] Diagnostics for board 50:
2025-04-29 06:25:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:25:36 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:13:27 ago, cause: software
2025-04-29 06:25:36 [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
2025-04-29 06:25:36 [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
2025-04-29 06:25:36 [debug] Moves scheduled 31514, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=562, frequency (Hz): min=657, max=15306
Sync err accum 89, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 786125946 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 34
2025-04-29 06:25:36 [debug] Driver 0: pos -9622, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16928, writes 11 timeouts 1
2025-04-29 06:25:36 [debug] Last sensors broadcast 0x00000000 found 0 113 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 90, 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 375, adv 36054/37116
2025-04-29 06:25:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2279
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10468, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:25:36 [info] currentZPosition:0.0173
2025-04-29 06:25:37 [debug] Stopped at height 0.018 mm
2025-04-29 06:25:37 [debug] Diagnostics for board 50:
2025-04-29 06:25:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:25:37 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:13:29 ago, cause: software
2025-04-29 06:25:37 [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
2025-04-29 06:25:37 [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
2025-04-29 06:25:37 [debug] Moves scheduled 31518, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 306, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=534, frequency (Hz): min=1533, max=15306
Sync err accum 93, peak jitter 0/1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 785115323 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 3
2025-04-29 06:25:37 [debug] Driver 0: pos -9612, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15929, writes 0 timeouts 0
2025-04-29 06:25:37 [debug] Last sensors broadcast 0x00000000 found 0 210 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 78, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 36356/37109
2025-04-29 06:25:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10466, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:25:38 [info] currentZPosition:0.0183
2025-04-29 06:25:39 [debug] Stopped at height 0.018 mm
2025-04-29 06:25:39 [debug] Diagnostics for board 50:
2025-04-29 06:25:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:25:39 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.2%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:13:30 ago, cause: software
2025-04-29 06:25:39 [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
2025-04-29 06:25:39 [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
2025-04-29 06:25:39 [debug] Moves scheduled 31522, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=517, frequency (Hz): min=1533, max=15625
Sync err accum 91, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 784056272 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 06:25:39 [debug] Driver 0: pos -9610, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16795, writes 0 timeouts 0
2025-04-29 06:25:39 [debug] Last sensors broadcast 0x00000000 found 0 123 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 80, 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 377, adv 36015/37116
2025-04-29 06:25:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10421, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4697, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:25:39 [info] currentZPosition:0.0185
2025-04-29 06:25:40 [debug] Stopped at height 0.018 mm
2025-04-29 06:25:40 [debug] Diagnostics for board 50:
2025-04-29 06:25:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:25:40 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:13:31 ago, cause: software
2025-04-29 06:25:40 [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
2025-04-29 06:25:40 [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
2025-04-29 06:25:40 [debug] Moves scheduled 31526, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 244, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=720, frequency (Hz): min=1233, max=15306
Sync err accum 84, peak jitter -2/-1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 783026070 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max
2025-04-29 06:25:40 [debug] Driver 0: pos -9612, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16329, writes 0 timeouts 0
2025-04-29 06:25:40 [debug] Last sensors broadcast 0x00000000 found 0 244 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 78, 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 361, adv 36325/37124
2025-04-29 06:25:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10459, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:25:40 [info] currentZPosition:0.0183
2025-04-29 06:25:42 [debug] Stopped at height 0.017 mm
2025-04-29 06:25:42 [debug] Diagnostics for board 50:
2025-04-29 06:25:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:25:42 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:13:33 ago, cause: software
2025-04-29 06:25:42 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:25:42 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:25:42 [debug] Moves scheduled 31530, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=780, frequency (Hz): min=1160, max=15306
Sync err accum 77, peak jitter -1/-1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 781954054 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max
2025-04-29 06:25:42 [debug] Driver 0: pos -9620, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17003, writes 0 timeouts 0
2025-04-29 06:25:42 [debug] Last sensors broadcast 0x00000000 found 0 175 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 84, 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 372, adv 36019/37125
2025-04-29 06:25:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2279
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10455, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:25:42 [info] currentZPosition:0.0175
2025-04-29 06:25:43 [debug] Stopped at height 0.018 mm
2025-04-29 06:25:43 [debug] Diagnostics for board 50:
2025-04-29 06:25:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:25:43 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.1%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:13:34 ago, cause: software
2025-04-29 06:25:43 [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
2025-04-29 06:25:43 [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
2025-04-29 06:25:43 [debug] Moves scheduled 31534, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=526, frequency (Hz): min=1630, max=15306
Sync err accum 71, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 780939420 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:25:43 [debug] Driver 0: pos -9613, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16079, writes 0 timeouts 0
2025-04-29 06:25:43 [debug] Last sensors broadcast 0x00000000 found 0 29 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 82, 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 408, adv 36340/37121
2025-04-29 06:25:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10427, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2279
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:25:43 [info] currentZPosition:0.0182
2025-04-29 06:25:44 [debug] Stopped at height 0.018 mm
2025-04-29 06:25:44 [debug] Diagnostics for board 50:
2025-04-29 06:25:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:25:44 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 17:13:36 ago, cause: software
2025-04-29 06:25:44 [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
2025-04-29 06:25:44 [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
2025-04-29 06:25:44 [debug] Moves scheduled 31538, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=678, frequency (Hz): min=673, max=15306
Sync err accum 60, peak jitter -2/0, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 779875468 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 3
2025-04-29 06:25:44 [debug] Driver 0: pos -9612, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16856, writes 11 timeouts 1
2025-04-29 06:25:44 [debug] Last sensors broadcast 0x00000000 found 0 197 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 78, 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 371, adv 36026/37107
2025-04-29 06:25:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10454, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:25:44 [info] currentZPosition:0.0183
2025-04-29 06:25:46 [debug] Stopped at height 0.018 mm
2025-04-29 06:25:46 [debug] Diagnostics for board 50:
2025-04-29 06:25:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:25:46 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:13:37 ago, cause: software
2025-04-29 06:25:46 [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
2025-04-29 06:25:46 [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
2025-04-29 06:25:46 [debug] Moves scheduled 31542, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=605, frequency (Hz): min=1417, max=15625
Sync err accum 77, peak jitter 1/3, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 778842722 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, curr
2025-04-29 06:25:46 [debug] Driver 0: pos -9614, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16368, writes 0 timeouts 0
2025-04-29 06:25:46 [debug] Last sensors broadcast 0x00000000 found 0 73 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 81, 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 397, adv 36341/37130
2025-04-29 06:25:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10414, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:25:46 [info] currentZPosition:0.0181
2025-04-29 06:25:47 [debug] Stopped at height 0.017 mm
2025-04-29 06:25:47 [debug] Diagnostics for board 50:
2025-04-29 06:25:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:25:47 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:13:39 ago, cause: software
2025-04-29 06:25:47 [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
2025-04-29 06:25:47 [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
2025-04-29 06:25:47 [debug] Moves scheduled 31546, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 384, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=553, frequency (Hz): min=1358, max=15306
Sync err accum 88, peak jitter 1/2, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 777755445 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 3
2025-04-29 06:25:47 [debug] Driver 0: pos -9628, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17214, writes 0 timeouts 0
2025-04-29 06:25:47 [debug] Last sensors broadcast 0x00000000 found 0 24 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 92, 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 380, adv 36039/37095
2025-04-29 06:25:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2279
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10540, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4697, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:25:47 [info] currentZPosition:0.0167
2025-04-29 06:25:48 [debug] Stopped at height 0.016 mm
2025-04-29 06:25:49 [debug] Stopped at height 0.018 mm
2025-04-29 06:25:49 [debug] Diagnostics for board 50:
2025-04-29 06:25:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:25:49 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 17:13:40 ago, cause: software
2025-04-29 06:25:49 [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
2025-04-29 06:25:49 [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
2025-04-29 06:25:49 [debug] Moves scheduled 31552, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=596, frequency (Hz): min=1464, max=15306
Sync err accum 100, peak jitter 1/2, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 776518716 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:25:49 [debug] Driver 0: pos -9612, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 19628, writes 0 timeouts 0
2025-04-29 06:25:49 [debug] Last sensors broadcast 0x00000000 found 0 173 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 93, 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 390, adv 36384/37123
2025-04-29 06:25:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10410, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:25:49 [info] currentZPosition:0.0183
2025-04-29 06:25:49 [debug] Stopped at height 0.016 mm
2025-04-29 06:25:50 [warn] Error: G30: Probe already triggered at start of probing move
2025-04-29 06:25:50 [debug] Diagnostics for board 50:
2025-04-29 06:25:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:25:50 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:13:42 ago, cause: software
2025-04-29 06:25:50 [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
2025-04-29 06:25:50 [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
2025-04-29 06:25:50 [debug] Moves scheduled 31557, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 160, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=741, frequency (Hz): min=1273, max=15306
Sync err accum 108, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 775376767 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 06:25:50 [debug] Driver 0: pos -9554, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18064, writes 0 timeouts 0
2025-04-29 06:25:50 [debug] Last sensors broadcast 0x00000000 found 0 194 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 94, send timeouts 0, received 24, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36032/37157
2025-04-29 06:25:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2258
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10097, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2262
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:25:50 [info] currentZPosition:0.0241
2025-04-29 06:25:51 [debug] Stopped at height 0.018 mm
2025-04-29 06:25:51 [debug] Stopped at height 0.017 mm
2025-04-29 06:25:53 [debug] Stopped at height 0.017 mm
2025-04-29 06:25:53 [debug] Diagnostics for board 50:
2025-04-29 06:25:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:25:53 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,3.7%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:13:44 ago, cause: software
2025-04-29 06:25:53 [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
2025-04-29 06:25:53 [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
2025-04-29 06:25:53 [debug] Moves scheduled 31565, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 315, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=569, frequency (Hz): min=1512, max=15306
Sync err accum 112, peak jitter -1/1, peak Rx delay 189, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 773736495 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:25:53 [debug] Driver 0: pos -9627, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 26340, writes 0 timeouts 0
2025-04-29 06:25:53 [debug] Last sensors broadcast 0x00000000 found 0 134 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 120, send timeouts 0, received 35, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 525, adv 36367/37135
2025-04-29 06:25:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2279
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10504, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4697, no error
Lin: Encoder reverse polarity: no, raw count 2279
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:25:53 [info] currentZPosition:0.0168
2025-04-29 06:25:54 [debug] Stopped at height 0.017 mm
2025-04-29 06:25:54 [debug] Diagnostics for board 50:
2025-04-29 06:25:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:25:54 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:13:45 ago, cause: software
2025-04-29 06:25:54 [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
2025-04-29 06:25:54 [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
2025-04-29 06:25:54 [debug] Moves scheduled 31569, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 321, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=581, frequency (Hz): min=1325, max=15306
Sync err accum 107, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 1 ticks, disabled, next step interrupt due in 772674977 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 06:25:54 [debug] Driver 0: pos -9625, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16631, writes 0 timeouts 0
2025-04-29 06:25:54 [debug] Last sensors broadcast 0x00000000 found 0 47 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 89, 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 380, adv 36013/37130
2025-04-29 06:25:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2280
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10535, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:25:54 [info] currentZPosition:0.0171
2025-04-29 06:25:55 [debug] Stopped at height 0.018 mm
2025-04-29 06:25:55 [debug] Diagnostics for board 50:
2025-04-29 06:25:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:25:55 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:13:47 ago, cause: software
2025-04-29 06:25:55 [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
2025-04-29 06:25:55 [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
2025-04-29 06:25:55 [debug] Moves scheduled 31573, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=638, frequency (Hz): min=1297, max=15306
Sync err accum 102, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 771670574 ticks, 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
2025-04-29 06:25:55 [debug] Driver 0: pos -9612, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15786, writes 0 timeouts 0
2025-04-29 06:25:55 [debug] Last sensors broadcast 0x00000000 found 0 135 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 81, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36389/37124
2025-04-29 06:25:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10401, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:25:55 [info] currentZPosition:0.0185
2025-04-29 06:25:56 [debug] Stopped at height 0.017 mm
2025-04-29 06:25:57 [debug] Stopped at height 0.016 mm
2025-04-29 06:25:57 [debug] Diagnostics for board 50:
2025-04-29 06:25:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:25:57 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.6%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:13:48 ago, cause: software
2025-04-29 06:25:57 [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
2025-04-29 06:25:57 [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
2025-04-29 06:25:57 [debug] Moves scheduled 31579, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=577, frequency (Hz): min=1363, max=15306
Sync err accum 87, peak jitter -3/-1, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 770323516 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:25:57 [debug] Driver 0: pos -9635, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 21412, writes 0 timeouts 0
2025-04-29 06:25:57 [debug] Last sensors broadcast 0x00000000 found 0 183 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 116, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36007/37149
2025-04-29 06:25:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2282
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10563, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2282
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:25:57 [info] currentZPosition:0.0162
2025-04-29 06:25:58 [debug] Stopped at height 0.018 mm
2025-04-29 06:25:58 [debug] Diagnostics for board 50:
2025-04-29 06:25:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:25:58 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.2%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:13:50 ago, cause: software
2025-04-29 06:25:58 [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
2025-04-29 06:25:58 [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
2025-04-29 06:25:58 [debug] Moves scheduled 31583, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=532, frequency (Hz): min=1609, max=15306
Sync err accum 72, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 10 ticks, enabled, next step interrupt due in 769327264 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, c
2025-04-29 06:25:58 [debug] Driver 0: pos -9615, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15615, writes 0 timeouts 0
2025-04-29 06:25:58 [debug] Last sensors broadcast 0x00000000 found 0 10 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 89, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 402, adv 36333/37109
2025-04-29 06:25:58 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10457, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:25:59 [info] currentZPosition:0.0182
2025-04-29 06:25:59 [debug] Stopped at height 0.017 mm
2025-04-29 06:26:00 [debug] Stopped at height 0.018 mm
2025-04-29 06:26:00 [debug] Diagnostics for board 50:
2025-04-29 06:26:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:26:00 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:13:51 ago, cause: software
2025-04-29 06:26:00 [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
2025-04-29 06:26:00 [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
2025-04-29 06:26:00 [debug] Moves scheduled 31589, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=504, frequency (Hz): min=1339, max=15306
Sync err accum 65, peak jitter -4/2, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 768023708 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 06:26:00 [debug] Driver 0: pos -9619, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20808, writes 0 timeouts 0
2025-04-29 06:26:00 [debug] Last sensors broadcast 0x00000000 found 0 248 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 97, 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 369, adv 36018/37134
2025-04-29 06:26:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10436, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:26:00 [info] currentZPosition:0.0179
2025-04-29 06:26:02 [debug] Stopped at height 0.016 mm
2025-04-29 06:26:02 [debug] Diagnostics for board 50:
2025-04-29 06:26:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:26:02 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:13:53 ago, cause: software
2025-04-29 06:26:02 [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
2025-04-29 06:26:02 [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
2025-04-29 06:26:02 [debug] Moves scheduled 31593, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 266, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=588, frequency (Hz): min=1363, max=15306
Sync err accum 78, peak jitter 1/3, peak Rx delay 198, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 766961478 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 3
2025-04-29 06:26:02 [debug] Driver 0: pos -9634, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16669, writes 0 timeouts 0
2025-04-29 06:26:02 [debug] Last sensors broadcast 0x00000000 found 0 166 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 99, 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 375, adv 36343/37104
2025-04-29 06:26:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10577, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2285
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:26:02 [info] currentZPosition:0.0164
2025-04-29 06:26:02 [debug] Stopped at height 0.015 mm
2025-04-29 06:26:03 [debug] Stopped at height 0.019 mm
2025-04-29 06:26:03 [debug] Diagnostics for board 50:
2025-04-29 06:26:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:26:03 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:13:55 ago, cause: software
2025-04-29 06:26:03 [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
2025-04-29 06:26:03 [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
2025-04-29 06:26:03 [debug] Moves scheduled 31599, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=582, frequency (Hz): min=1530, max=15625
Sync err accum 87, peak jitter 0/2, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 765697171 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 3
2025-04-29 06:26:03 [debug] Driver 0: pos -9612, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20006, writes 0 timeouts 0
2025-04-29 06:26:03 [debug] Last sensors broadcast 0x00000000 found 0 102 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 92, 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 438, adv 36002/37115
2025-04-29 06:26:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10467, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:26:03 [info] currentZPosition:0.0186
2025-04-29 06:26:04 [debug] Stopped at height 0.018 mm
2025-04-29 06:26:05 [debug] Stopped at height 0.017 mm
2025-04-29 06:26:05 [debug] Diagnostics for board 50:
2025-04-29 06:26:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:26:05 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.3%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:13:56 ago, cause: software
2025-04-29 06:26:05 [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
2025-04-29 06:26:05 [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
2025-04-29 06:26:05 [debug] Moves scheduled 31605, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=640, frequency (Hz): min=1351, max=15306
Sync err accum 92, peak jitter -1/1, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 764392543 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 06:26:05 [debug] Driver 0: pos -9629, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20812, writes 0 timeouts 0
2025-04-29 06:26:05 [debug] Last sensors broadcast 0x00000000 found 0 90 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 100, 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 417, adv 36337/37111
2025-04-29 06:26:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2283
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10571, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:26:05 [info] currentZPosition:0.0169
2025-04-29 06:26:05 [debug] Stopped at height 0.016 mm
2025-04-29 06:26:07 [debug] Stopped at height 0.016 mm
2025-04-29 06:26:07 [debug] Diagnostics for board 50:
2025-04-29 06:26:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:26:07 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.7%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:13:58 ago, cause: software
2025-04-29 06:26:07 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:26:07 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:26:07 [debug] Moves scheduled 31611, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 364, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=533, frequency (Hz): min=1247, max=15625
Sync err accum 91, peak jitter -1/0, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 0 ticks, enabled, next step interrupt due in 763069155 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:26:07 [debug] Driver 0: pos -9637, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20792, writes 0 timeouts 0
2025-04-29 06:26:07 [debug] Last sensors broadcast 0x00000000 found 0 106 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 117, 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 372, adv 36071/37153
2025-04-29 06:26:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2283
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10568, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2281
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:26:07 [info] currentZPosition:0.0161
2025-04-29 06:26:08 [debug] Stopped at height 0.018 mm
2025-04-29 06:26:08 [debug] Diagnostics for board 50:
2025-04-29 06:26:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:26:08 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.3%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:13:59 ago, cause: software
2025-04-29 06:26:08 [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
2025-04-29 06:26:08 [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
2025-04-29 06:26:08 [debug] Moves scheduled 31615, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=801, frequency (Hz): min=1124, max=15306
Sync err accum 86, peak jitter -1/0, peak Rx delay 186, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 762071159 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:26:08 [debug] Driver 0: pos -9621, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15642, writes 0 timeouts 0
2025-04-29 06:26:08 [debug] Last sensors broadcast 0x00000000 found 0 183 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 84, 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 380, adv 36382/37103
2025-04-29 06:26:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10487, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2281
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:26:08 [info] currentZPosition:0.0177
2025-04-29 06:26:09 [debug] Stopped at height 0.018 mm
2025-04-29 06:26:10 [debug] Stopped at height 0.017 mm
2025-04-29 06:26:10 [debug] Diagnostics for board 50:
2025-04-29 06:26:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:26:10 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.3%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:14:01 ago, cause: software
2025-04-29 06:26:10 [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
2025-04-29 06:26:10 [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
2025-04-29 06:26:10 [debug] Moves scheduled 31621, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=581, frequency (Hz): min=1450, max=15306
Sync err accum 76, peak jitter -2/-1, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 760758374 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max
2025-04-29 06:26:10 [debug] Driver 0: pos -9632, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20983, writes 0 timeouts 0
2025-04-29 06:26:10 [debug] Last sensors broadcast 0x00000000 found 0 186 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 102, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36098/37149
2025-04-29 06:26:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2283
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10563, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4697, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:26:10 [info] currentZPosition:0.0166
2025-04-29 06:26:11 [debug] Stopped at height 0.019 mm
2025-04-29 06:26:11 [debug] Diagnostics for board 50:
2025-04-29 06:26:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:26:11 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:14:02 ago, cause: software
2025-04-29 06:26:11 [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
2025-04-29 06:26:11 [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
2025-04-29 06:26:11 [debug] Moves scheduled 31625, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 166, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=568, frequency (Hz): min=1464, max=15306
Sync err accum 65, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 759765430 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:26:11 [debug] Driver 0: pos -9612, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15653, writes 0 timeouts 0
2025-04-29 06:26:11 [debug] Last sensors broadcast 0x00000000 found 0 9 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 83, 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 395, adv 36219/37123
2025-04-29 06:26:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10443, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:26:11 [info] currentZPosition:0.0186
2025-04-29 06:26:12 [debug] Stopped at height 0.017 mm
2025-04-29 06:26:13 [debug] Stopped at height 0.016 mm
2025-04-29 06:26:13 [debug] Diagnostics for board 50:
2025-04-29 06:26:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:26:13 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.2%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:14:04 ago, cause: software
2025-04-29 06:26:13 [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
2025-04-29 06:26:13 [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
2025-04-29 06:26:13 [debug] Moves scheduled 31631, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=844, frequency (Hz): min=583, max=15306
Sync err accum 72, peak jitter -2/3, peak Rx delay 205, resyncs 0/0, next timer interrupt due in 4294967245 ticks, enabled, next step interrupt due in 758428041 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30
2025-04-29 06:26:13 [debug] Driver 0: pos -9635, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 21342, writes 11 timeouts 1
2025-04-29 06:26:13 [debug] Last sensors broadcast 0x00000000 found 0 44 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 105, 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 370, adv 36032/37120
2025-04-29 06:26:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2282
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10594, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4696, no error
Lin: Encoder reverse polarity: no, raw count 2279
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:26:13 [info] currentZPosition:0.0163
2025-04-29 06:26:14 [debug] Stopped at height 0.018 mm
2025-04-29 06:26:14 [debug] Diagnostics for board 50:
2025-04-29 06:26:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:26:14 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:14:06 ago, cause: software
2025-04-29 06:26:14 [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
2025-04-29 06:26:14 [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
2025-04-29 06:26:14 [debug] Moves scheduled 31635, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=798, frequency (Hz): min=1162, max=15625
Sync err accum 85, peak jitter 2/3, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 757433252 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-29 06:26:14 [debug] Driver 0: pos -9617, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15618, writes 0 timeouts 0
2025-04-29 06:26:14 [debug] Last sensors broadcast 0x00000000 found 0 120 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 79, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 358, adv 36134/37166
2025-04-29 06:26:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10448, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:26:14 [info] currentZPosition:0.0181
2025-04-29 06:26:15 [debug] Stopped at height 0.018 mm
2025-04-29 06:26:16 [debug] Stopped at height 0.019 mm
2025-04-29 06:26:16 [debug] Diagnostics for board 50:
2025-04-29 06:26:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:26:16 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.5%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:14:07 ago, cause: software
2025-04-29 06:26:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:26:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:26:16 [debug] Moves scheduled 31641, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=844, frequency (Hz): min=1005, max=15306
Sync err accum 98, peak jitter 1/3, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 756153573 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 3
2025-04-29 06:26:16 [debug] Driver 0: pos -9608, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20413, writes 0 timeouts 0
2025-04-29 06:26:16 [debug] Last sensors broadcast 0x00000000 found 0 75 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 90, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 35998/37162
2025-04-29 06:26:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10451, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:26:16 [info] currentZPosition:0.0190
2025-04-29 06:26:17 [debug] Stopped at height 0.018 mm
2025-04-29 06:26:17 [debug] Diagnostics for board 50:
2025-04-29 06:26:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:26:17 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:14:09 ago, cause: software
2025-04-29 06:26:17 [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
2025-04-29 06:26:17 [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
2025-04-29 06:26:17 [debug] Moves scheduled 31645, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=509, frequency (Hz): min=1473, max=15306
Sync err accum 106, peak jitter 1/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 755119395 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:26:17 [debug] Driver 0: pos -9615, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16352, writes 0 timeouts 0
2025-04-29 06:26:17 [debug] Last sensors broadcast 0x00000000 found 0 209 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 80, 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 379, adv 36114/37100
2025-04-29 06:26:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10419, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:26:17 [info] currentZPosition:0.0183
2025-04-29 06:26:19 [debug] Stopped at height 0.019 mm
2025-04-29 06:26:19 [debug] Diagnostics for board 50:
2025-04-29 06:26:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:26:19 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:14:10 ago, cause: software
2025-04-29 06:26:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:26:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:26:19 [debug] Moves scheduled 31649, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 230, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=549, frequency (Hz): min=1348, max=15306
Sync err accum 110, peak jitter 0/1, peak Rx delay 181, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 754066201 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:26:19 [debug] Driver 0: pos -9610, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16597, writes 0 timeouts 0
2025-04-29 06:26:19 [debug] Last sensors broadcast 0x00000000 found 0 108 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 82, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 36019/37122
2025-04-29 06:26:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10442, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4694, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:26:19 [info] currentZPosition:0.0188
2025-04-29 06:26:20 [debug] Stopped at height 0.018 mm
2025-04-29 06:26:20 [debug] Diagnostics for board 50:
2025-04-29 06:26:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:26:20 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:14:11 ago, cause: software
2025-04-29 06:26:20 [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
2025-04-29 06:26:20 [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
2025-04-29 06:26:20 [debug] Moves scheduled 31653, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=673, frequency (Hz): min=1394, max=15306
Sync err accum 113, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, CC0 mismatch!!, next step interrupt due in 753024071 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 06:26:20 [debug] Driver 0: pos -9617, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16316, writes 0 timeouts 0
2025-04-29 06:26:20 [debug] Last sensors broadcast 0x00000000 found 0 247 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 85, 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 378, adv 36157/37130
2025-04-29 06:26:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10478, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:26:20 [info] currentZPosition:0.0182
2025-04-29 06:26:22 [debug] Stopped at height 0.017 mm
2025-04-29 06:26:22 [debug] Diagnostics for board 50:
2025-04-29 06:26:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:26:22 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:14:13 ago, cause: software
2025-04-29 06:26:22 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:26:22 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:26:22 [debug] Moves scheduled 31657, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=794, frequency (Hz): min=1200, max=15306
Sync err accum 108, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 751944270 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:26:22 [debug] Driver 0: pos -9626, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16990, writes 0 timeouts 0
2025-04-29 06:26:22 [debug] Last sensors broadcast 0x00000000 found 0 190 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 89, 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 385, adv 36039/37104
2025-04-29 06:26:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10505, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2280
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:26:22 [info] currentZPosition:0.0173
2025-04-29 06:26:23 [debug] Stopped at height 0.019 mm
2025-04-29 06:26:23 [debug] Diagnostics for board 50:
2025-04-29 06:26:23 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:26:23 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.1%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:14:14 ago, cause: software
2025-04-29 06:26:23 [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
2025-04-29 06:26:23 [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
2025-04-29 06:26:23 [debug] Moves scheduled 31661, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=657, frequency (Hz): min=1407, max=15625
Sync err accum 100, peak jitter -2/-1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 750941721 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, ma
2025-04-29 06:26:23 [debug] Driver 0: pos -9610, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 18059, writes 0 timeouts 0
2025-04-29 06:26:23 [debug] Last sensors broadcast 0x00000000 found 0 214 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 88, 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 375, adv 36112/37132
2025-04-29 06:26:23 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10453, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:26:23 [info] currentZPosition:0.0189
2025-04-29 06:26:24 [debug] Stopped at height 0.017 mm
2025-04-29 06:26:26 [debug] Stopped at height 0.017 mm
2025-04-29 06:26:26 [debug] Diagnostics for board 50:
2025-04-29 06:26:26 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:26:26 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:14:17 ago, cause: software
2025-04-29 06:26:26 [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
2025-04-29 06:26:26 [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
2025-04-29 06:26:26 [debug] Moves scheduled 31667, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 306, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=714, frequency (Hz): min=813, max=15306
Sync err accum 70, peak jitter -3/-1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 748606281 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:26:26 [debug] Driver 0: pos -9632, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 36808, writes 22 timeouts 2
2025-04-29 06:26:26 [debug] Last sensors broadcast 0x00000000 found 0 50 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 168, send timeouts 0, received 35, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36059/37126
2025-04-29 06:26:26 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10574, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2284
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:26:26 [info] currentZPosition:0.0167
2025-04-29 06:26:28 [debug] Stopped at height 0.017 mm
2025-04-29 06:26:28 [debug] Diagnostics for board 50:
2025-04-29 06:26:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:26:28 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:14:19 ago, cause: software
2025-04-29 06:26:28 [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
2025-04-29 06:26:28 [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
2025-04-29 06:26:28 [debug] Moves scheduled 31671, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=706, frequency (Hz): min=1288, max=15306
Sync err accum 59, peak jitter -2/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, CC0 mismatch!!, next step interrupt due in 747453651 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 06:26:28 [debug] Driver 0: pos -9635, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16482, writes 0 timeouts 0
2025-04-29 06:26:28 [debug] Last sensors broadcast 0x00000000 found 0 179 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 92, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36092/37122
2025-04-29 06:26:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2282
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10603, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2279
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:26:28 [info] currentZPosition:0.0165
2025-04-29 06:26:29 [debug] Stopped at height 0.019 mm
2025-04-29 06:26:29 [debug] Diagnostics for board 50:
2025-04-29 06:26:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:26:29 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.9%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.2%
Owned mutexes:
Last reset 17:14:20 ago, cause: software
2025-04-29 06:26:29 [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
2025-04-29 06:26:29 [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
2025-04-29 06:26:29 [debug] Moves scheduled 31675, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=652, frequency (Hz): min=562, max=15306
Sync err accum 72, peak jitter 1/4, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 746435320 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, curre
2025-04-29 06:26:29 [debug] Driver 0: pos -9609, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15925, writes 11 timeouts 1
2025-04-29 06:26:29 [debug] Last sensors broadcast 0x00000000 found 0 33 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 81, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36008/37109
2025-04-29 06:26:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10453, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:26:29 [info] currentZPosition:0.0191
2025-04-29 06:26:29 [debug] Stopped at height 0.019 mm
2025-04-29 06:26:31 [debug] Stopped at height 0.018 mm
2025-04-29 06:26:31 [debug] Diagnostics for board 50:
2025-04-29 06:26:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:26:31 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.7%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:14:22 ago, cause: software
2025-04-29 06:26:31 [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
2025-04-29 06:26:31 [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
2025-04-29 06:26:31 [debug] Moves scheduled 31681, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 355, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=620, frequency (Hz): min=486, max=15306
Sync err accum 82, peak jitter 1/2, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 745164626 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 34
2025-04-29 06:26:31 [debug] Driver 0: pos -9616, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20204, writes 22 timeouts 2
2025-04-29 06:26:31 [debug] Last sensors broadcast 0x00000000 found 0 229 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 86, 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 443, adv 36088/37170
2025-04-29 06:26:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10462, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:26:31 [info] currentZPosition:0.0184
2025-04-29 06:26:32 [debug] Stopped at height 0.018 mm
2025-04-29 06:26:32 [debug] Diagnostics for board 50:
2025-04-29 06:26:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:26:32 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:14:23 ago, cause: software
2025-04-29 06:26:32 [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
2025-04-29 06:26:32 [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
2025-04-29 06:26:32 [debug] Moves scheduled 31685, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=630, frequency (Hz): min=1399, max=15625
Sync err accum 85, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 744099227 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, curr
2025-04-29 06:26:32 [debug] Driver 0: pos -9617, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16825, writes 0 timeouts 0
2025-04-29 06:26:32 [debug] Last sensors broadcast 0x00000000 found 0 151 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 84, 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 385, adv 36073/37119
2025-04-29 06:26:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2280
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10468, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:26:32 [info] currentZPosition:0.0183
2025-04-29 06:26:33 [debug] Stopped at height 0.018 mm
2025-04-29 06:26:33 [debug] Diagnostics for board 50:
2025-04-29 06:26:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:26:33 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:14:25 ago, cause: software
2025-04-29 06:26:33 [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
2025-04-29 06:26:33 [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
2025-04-29 06:26:33 [debug] Moves scheduled 31689, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=657, frequency (Hz): min=1286, max=15306
Sync err accum 85, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 743058450 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:26:33 [debug] Driver 0: pos -9623, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16353, writes 0 timeouts 0
2025-04-29 06:26:33 [debug] Last sensors broadcast 0x00000000 found 0 36 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 90, 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 385, adv 36095/37118
2025-04-29 06:26:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10467, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2280
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:26:34 [info] currentZPosition:0.0177
2025-04-29 06:26:35 [debug] Stopped at height 0.018 mm
2025-04-29 06:26:35 [debug] Diagnostics for board 50:
2025-04-29 06:26:35 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:26:35 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:14:26 ago, cause: software
2025-04-29 06:26:35 [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
2025-04-29 06:26:35 [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
2025-04-29 06:26:35 [debug] Moves scheduled 31693, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=580, frequency (Hz): min=1552, max=15306
Sync err accum 83, peak jitter -1/0, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, CC0 mismatch!!, next step interrupt due in 742009407 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 06:26:35 [debug] Driver 0: pos -9615, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16576, writes 0 timeouts 0
2025-04-29 06:26:35 [debug] Last sensors broadcast 0x00000000 found 0 184 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 78, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36064/37084
2025-04-29 06:26:35 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10417, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4708, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:26:35 [info] currentZPosition:0.0185
2025-04-29 06:26:36 [debug] Stopped at height 0.018 mm
2025-04-29 06:26:36 [debug] Diagnostics for board 50:
2025-04-29 06:26:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:26:36 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 17:14:28 ago, cause: software
2025-04-29 06:26:36 [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
2025-04-29 06:26:36 [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
2025-04-29 06:26:36 [debug] Moves scheduled 31697, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 1223, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=696, frequency (Hz): min=1179, max=15306
Sync err accum 75, peak jitter -2/-1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 0 ticks, disabled, next step interrupt due in 740974174 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, 
2025-04-29 06:26:36 [debug] Driver 0: pos -9619, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16348, writes 0 timeouts 0
2025-04-29 06:26:36 [debug] Last sensors broadcast 0x00000000 found 0 67 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 87, 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 536, adv 36105/37111
2025-04-29 06:26:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10475, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:26:36 [info] currentZPosition:0.0181
2025-04-29 06:26:38 [debug] Stopped at height 0.017 mm
2025-04-29 06:26:38 [debug] Diagnostics for board 50:
2025-04-29 06:26:38 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:26:38 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:14:29 ago, cause: software
2025-04-29 06:26:38 [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
2025-04-29 06:26:38 [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
2025-04-29 06:26:38 [debug] Moves scheduled 31701, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=477, frequency (Hz): min=1562, max=15957
Sync err accum 65, peak jitter -2/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 739888646 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:26:38 [debug] Driver 0: pos -9629, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17075, writes 0 timeouts 0
2025-04-29 06:26:38 [debug] Last sensors broadcast 0x00000000 found 0 14 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 95, 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 375, adv 36019/37128
2025-04-29 06:26:38 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2283
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10554, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:26:38 [info] currentZPosition:0.0171
2025-04-29 06:26:39 [debug] Stopped at height 0.018 mm
2025-04-29 06:26:39 [debug] Diagnostics for board 50:
2025-04-29 06:26:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:26:39 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.8%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:14:30 ago, cause: software
2025-04-29 06:26:39 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:26:39 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:26:39 [debug] Moves scheduled 31705, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=476, frequency (Hz): min=1231, max=15306
Sync err accum 67, peak jitter -3/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 738885370 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:26:39 [debug] Driver 0: pos -9615, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15789, writes 0 timeouts 0
2025-04-29 06:26:39 [debug] Last sensors broadcast 0x00000000 found 0 99 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 84, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 367, adv 36075/37135
2025-04-29 06:26:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10452, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:26:39 [info] currentZPosition:0.0185
2025-04-29 06:26:40 [debug] Stopped at height 0.016 mm
2025-04-29 06:26:40 [debug] Stopped at height 0.016 mm
2025-04-29 06:26:41 [debug] Stopped at height 0.018 mm
2025-04-29 06:26:41 [debug] Diagnostics for board 50:
2025-04-29 06:26:41 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:26:41 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.6%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:14:32 ago, cause: software
2025-04-29 06:26:41 [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
2025-04-29 06:26:41 [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
2025-04-29 06:26:41 [debug] Moves scheduled 31713, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 434, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=521, frequency (Hz): min=1467, max=15625
Sync err accum 82, peak jitter 0/3, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 737334345 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 3
2025-04-29 06:26:41 [debug] Driver 0: pos -9620, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 24740, writes 0 timeouts 0
2025-04-29 06:26:41 [debug] Last sensors broadcast 0x00000000 found 0 172 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 123, send timeouts 0, received 35, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 487, adv 36014/37135
2025-04-29 06:26:41 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10458, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4696, no error
Lin: Encoder reverse polarity: no, raw count 2280
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:26:41 [info] currentZPosition:0.0180
2025-04-29 06:26:42 [debug] Stopped at height 0.017 mm
2025-04-29 06:26:43 [debug] Stopped at height 0.018 mm
2025-04-29 06:26:43 [debug] Diagnostics for board 50:
2025-04-29 06:26:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:26:43 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:14:34 ago, cause: software
2025-04-29 06:26:43 [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
2025-04-29 06:26:43 [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
2025-04-29 06:26:43 [debug] Moves scheduled 31719, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=569, frequency (Hz): min=1515, max=15625
Sync err accum 88, peak jitter 0/1, peak Rx delay 185, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 736073867 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 3
2025-04-29 06:26:43 [debug] Driver 0: pos -9621, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 19908, writes 0 timeouts 0
2025-04-29 06:26:43 [debug] Last sensors broadcast 0x00000000 found 0 97 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 98, 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 494, adv 36128/37121
2025-04-29 06:26:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10501, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2279
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:26:43 [info] currentZPosition:0.0179
2025-04-29 06:26:44 [debug] Stopped at height 0.018 mm
2025-04-29 06:26:44 [debug] Diagnostics for board 50:
2025-04-29 06:26:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:26:44 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:14:35 ago, cause: software
2025-04-29 06:26:44 [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
2025-04-29 06:26:44 [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
2025-04-29 06:26:44 [debug] Moves scheduled 31723, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=673, frequency (Hz): min=1318, max=15306
Sync err accum 93, peak jitter 0/2, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 735017348 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, curr
2025-04-29 06:26:44 [debug] Driver 0: pos -9616, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16693, writes 0 timeouts 0
2025-04-29 06:26:44 [debug] Last sensors broadcast 0x00000000 found 0 6 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 81, 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 395, adv 35971/37153
2025-04-29 06:26:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10477, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:26:44 [info] currentZPosition:0.0184
2025-04-29 06:26:46 [debug] Stopped at height 0.017 mm
2025-04-29 06:26:46 [debug] Diagnostics for board 50:
2025-04-29 06:26:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:26:46 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 17:14:37 ago, cause: software
2025-04-29 06:26:46 [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
2025-04-29 06:26:46 [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
2025-04-29 06:26:46 [debug] Moves scheduled 31727, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 345, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=584, frequency (Hz): min=609, max=15306
Sync err accum 92, peak jitter -1/1, peak Rx delay 192, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 733957411 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, curr
2025-04-29 06:26:46 [debug] Driver 0: pos -9632, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16653, writes 11 timeouts 1
2025-04-29 06:26:46 [debug] Last sensors broadcast 0x00000000 found 0 169 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 88, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 354, adv 36102/37137
2025-04-29 06:26:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2281
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10564, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2281
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:26:46 [info] currentZPosition:0.0168
2025-04-29 06:26:46 [debug] Stopped at height 0.016 mm
2025-04-29 06:26:47 [debug] Stopped at height 0.018 mm
2025-04-29 06:26:47 [debug] Diagnostics for board 50:
2025-04-29 06:26:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:26:47 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:14:39 ago, cause: software
2025-04-29 06:26:47 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:26:47 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:26:47 [debug] Moves scheduled 31733, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 464, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=440, frequency (Hz): min=1470, max=15625
Sync err accum 85, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 732673100 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 06:26:47 [debug] Driver 0: pos -9623, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20355, writes 0 timeouts 0
2025-04-29 06:26:47 [debug] Last sensors broadcast 0x00000000 found 0 134 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 104, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36020/37142
2025-04-29 06:26:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10454, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:26:47 [info] currentZPosition:0.0177
2025-04-29 06:26:48 [debug] Stopped at height 0.018 mm
2025-04-29 06:26:49 [debug] Stopped at height 0.018 mm
2025-04-29 06:26:49 [debug] Diagnostics for board 50:
2025-04-29 06:26:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:26:49 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.6%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:14:40 ago, cause: software
2025-04-29 06:26:49 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:26:49 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:26:49 [debug] Moves scheduled 31739, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 231, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=593, frequency (Hz): min=1578, max=15625
Sync err accum 75, peak jitter -2/0, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 731424679 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:26:49 [debug] Driver 0: pos -9618, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 19884, writes 0 timeouts 0
2025-04-29 06:26:49 [debug] Last sensors broadcast 0x00000000 found 0 46 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 98, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 391, adv 36052/37102
2025-04-29 06:26:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10441, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:26:49 [info] currentZPosition:0.0184
2025-04-29 06:26:50 [debug] Stopped at height 0.019 mm
2025-04-29 06:26:50 [debug] Diagnostics for board 50:
2025-04-29 06:26:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:26:50 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:14:42 ago, cause: software
2025-04-29 06:26:50 [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
2025-04-29 06:26:50 [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
2025-04-29 06:26:50 [debug] Moves scheduled 31743, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=764, frequency (Hz): min=1200, max=15306
Sync err accum 62, peak jitter -3/-1, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, CC0 mismatch!!, next step interrupt due in 730368986 ticks, 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
2025-04-29 06:26:50 [debug] Driver 0: pos -9615, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16694, writes 0 timeouts 0
2025-04-29 06:26:50 [debug] Last sensors broadcast 0x00000000 found 0 204 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 80, 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 405, adv 36030/37121
2025-04-29 06:26:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10417, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:26:50 [info] currentZPosition:0.0187
2025-04-29 06:26:52 [debug] Stopped at height 0.019 mm
2025-04-29 06:26:52 [debug] Diagnostics for board 50:
2025-04-29 06:26:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:26:52 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:14:43 ago, cause: software
2025-04-29 06:26:52 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:26:52 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:26:52 [debug] Moves scheduled 31747, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=570, frequency (Hz): min=1575, max=15306
Sync err accum 68, peak jitter -2/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 729340970 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 06:26:52 [debug] Driver 0: pos -9614, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16184, writes 0 timeouts 0
2025-04-29 06:26:52 [debug] Last sensors broadcast 0x00000000 found 0 76 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 87, 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 381, adv 36113/37121
2025-04-29 06:26:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10454, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:26:52 [info] currentZPosition:0.0188
2025-04-29 06:26:53 [debug] Stopped at height 0.019 mm
2025-04-29 06:26:53 [debug] Diagnostics for board 50:
2025-04-29 06:26:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:26:53 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:14:44 ago, cause: software
2025-04-29 06:26:53 [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
2025-04-29 06:26:53 [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
2025-04-29 06:26:53 [debug] Moves scheduled 31751, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 163, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=550, frequency (Hz): min=1588, max=15306
Sync err accum 76, peak jitter 1/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 728276254 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, curr
2025-04-29 06:26:53 [debug] Driver 0: pos -9616, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16812, writes 0 timeouts 0
2025-04-29 06:26:53 [debug] Last sensors broadcast 0x00000000 found 0 245 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 78, 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 452, adv 36031/37138
2025-04-29 06:26:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10460, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:26:53 [info] currentZPosition:0.0186
2025-04-29 06:26:55 [debug] Stopped at height 0.017 mm
2025-04-29 06:26:55 [debug] Diagnostics for board 50:
2025-04-29 06:26:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:26:55 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:14:46 ago, cause: software
2025-04-29 06:26:55 [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
2025-04-29 06:26:55 [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
2025-04-29 06:26:55 [debug] Moves scheduled 31755, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=502, frequency (Hz): min=631, max=15306
Sync err accum 78, peak jitter 0/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 727227363 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, curre
2025-04-29 06:26:55 [debug] Driver 0: pos -9627, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16503, writes 11 timeouts 1
2025-04-29 06:26:55 [debug] Last sensors broadcast 0x00000000 found 0 144 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 93, 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 402, adv 36141/37124
2025-04-29 06:26:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10503, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2279
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:26:55 [info] currentZPosition:0.0175
2025-04-29 06:26:56 [debug] Stopped at height 0.019 mm
2025-04-29 06:26:56 [debug] Diagnostics for board 50:
2025-04-29 06:26:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:26:56 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.7%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:14:47 ago, cause: software
2025-04-29 06:26:56 [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
2025-04-29 06:26:56 [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
2025-04-29 06:26:56 [debug] Moves scheduled 31759, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=512, frequency (Hz): min=1655, max=15306
Sync err accum 79, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 726188296 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 3
2025-04-29 06:26:56 [debug] Driver 0: pos -9615, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16385, writes 0 timeouts 0
2025-04-29 06:26:56 [debug] Last sensors broadcast 0x00000000 found 0 30 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 85, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 35987/37123
2025-04-29 06:26:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10447, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:26:56 [info] currentZPosition:0.0187
2025-04-29 06:26:57 [debug] Stopped at height 0.017 mm
2025-04-29 06:26:57 [debug] Diagnostics for board 50:
2025-04-29 06:26:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:26:57 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:14:49 ago, cause: software
2025-04-29 06:26:57 [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
2025-04-29 06:26:57 [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
2025-04-29 06:26:57 [debug] Moves scheduled 31763, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=565, frequency (Hz): min=1605, max=15306
Sync err accum 76, peak jitter -1/0, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 725136864 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 06:26:57 [debug] Driver 0: pos -9627, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16577, writes 0 timeouts 0
2025-04-29 06:26:57 [debug] Last sensors broadcast 0x00000000 found 0 181 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 87, 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 381, adv 36118/37123
2025-04-29 06:26:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2279
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10530, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4695, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:26:57 [info] currentZPosition:0.0175
2025-04-29 06:26:59 [debug] Stopped at height 0.017 mm
2025-04-29 06:26:59 [debug] Diagnostics for board 50:
2025-04-29 06:26:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:26:59 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:14:50 ago, cause: software
2025-04-29 06:26:59 [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
2025-04-29 06:26:59 [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
2025-04-29 06:26:59 [debug] Moves scheduled 31767, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=553, frequency (Hz): min=1552, max=15306
Sync err accum 69, peak jitter -1/-1, peak Rx delay 191, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 724066615 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:26:59 [debug] Driver 0: pos -9628, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16820, writes 0 timeouts 0
2025-04-29 06:26:59 [debug] Last sensors broadcast 0x00000000 found 0 106 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 96, 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 475, adv 36094/37150
2025-04-29 06:26:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10546, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4696, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:26:59 [info] currentZPosition:0.0174
2025-04-29 06:27:00 [debug] Stopped at height 0.018 mm
2025-04-29 06:27:00 [debug] Diagnostics for board 50:
2025-04-29 06:27:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:27:00 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:14:51 ago, cause: software
2025-04-29 06:27:00 [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
2025-04-29 06:27:00 [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
2025-04-29 06:27:00 [debug] Moves scheduled 31771, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 240, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=793, frequency (Hz): min=1198, max=15306
Sync err accum 62, peak jitter -2/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 723056199 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 06:27:00 [debug] Driver 0: pos -9619, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15943, writes 0 timeouts 0
2025-04-29 06:27:00 [debug] Last sensors broadcast 0x00000000 found 0 205 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 82, 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 478, adv 36056/37151
2025-04-29 06:27:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2280
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10464, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:27:00 [info] currentZPosition:0.0183
2025-04-29 06:27:02 [debug] Stopped at height 0.019 mm
2025-04-29 06:27:02 [debug] Diagnostics for board 50:
2025-04-29 06:27:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:27:02 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:14:53 ago, cause: software
2025-04-29 06:27:02 [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
2025-04-29 06:27:02 [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
2025-04-29 06:27:02 [debug] Moves scheduled 31775, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=522, frequency (Hz): min=517, max=15306
Sync err accum 74, peak jitter 1/3, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 722001211 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 34
2025-04-29 06:27:02 [debug] Driver 0: pos -9616, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16696, writes 11 timeouts 1
2025-04-29 06:27:02 [debug] Last sensors broadcast 0x00000000 found 0 111 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 81, 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 387, adv 36078/37099
2025-04-29 06:27:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10472, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2279
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:27:02 [info] currentZPosition:0.0186
2025-04-29 06:27:03 [debug] Stopped at height 0.019 mm
2025-04-29 06:27:03 [debug] Diagnostics for board 50:
2025-04-29 06:27:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:27:03 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.2%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:14:54 ago, cause: software
2025-04-29 06:27:03 [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
2025-04-29 06:27:03 [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
2025-04-29 06:27:03 [debug] Moves scheduled 31779, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 332, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=597, frequency (Hz): min=1417, max=15306
Sync err accum 80, peak jitter 1/1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 720986786 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 3
2025-04-29 06:27:03 [debug] Driver 0: pos -9609, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16066, writes 0 timeouts 0
2025-04-29 06:27:03 [debug] Last sensors broadcast 0x00000000 found 0 216 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 80, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 374, adv 36112/37144
2025-04-29 06:27:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10449, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:27:03 [info] currentZPosition:0.0193
2025-04-29 06:27:04 [debug] Stopped at height 0.017 mm
2025-04-29 06:27:04 [debug] Diagnostics for board 50:
2025-04-29 06:27:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:27:04 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:14:56 ago, cause: software
2025-04-29 06:27:04 [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
2025-04-29 06:27:04 [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
2025-04-29 06:27:04 [debug] Moves scheduled 31783, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=633, frequency (Hz): min=1320, max=15306
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 719879495 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, curr
2025-04-29 06:27:04 [debug] Driver 0: pos -9633, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17493, writes 0 timeouts 0
2025-04-29 06:27:04 [debug] Last sensors broadcast 0x00000000 found 0 191 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 82, 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 458, adv 36024/37158
2025-04-29 06:27:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2283
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10574, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2279
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:27:04 [info] currentZPosition:0.0169
2025-04-29 06:27:05 [debug] Stopped at height 0.016 mm
2025-04-29 06:27:06 [debug] Stopped at height 0.019 mm
2025-04-29 06:27:06 [debug] Diagnostics for board 50:
2025-04-29 06:27:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:27:06 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.8%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:14:57 ago, cause: software
2025-04-29 06:27:06 [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
2025-04-29 06:27:06 [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
2025-04-29 06:27:06 [debug] Moves scheduled 31789, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 328, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=560, frequency (Hz): min=1592, max=15306
Sync err accum 92, peak jitter 0/1, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 718644281 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 3
2025-04-29 06:27:06 [debug] Driver 0: pos -9615, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 19631, writes 0 timeouts 0
2025-04-29 06:27:06 [debug] Last sensors broadcast 0x00000000 found 0 86 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 90, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 437, adv 36128/37125
2025-04-29 06:27:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10446, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4694, no error
Lin: Encoder reverse polarity: no, raw count 2280
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:27:06 [info] currentZPosition:0.0188
2025-04-29 06:27:07 [debug] Stopped at height 0.016 mm
2025-04-29 06:27:08 [debug] Stopped at height 0.019 mm
2025-04-29 06:27:08 [debug] Diagnostics for board 50:
2025-04-29 06:27:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:27:08 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.0%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:14:59 ago, cause: software
2025-04-29 06:27:08 [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
2025-04-29 06:27:08 [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
2025-04-29 06:27:08 [debug] Moves scheduled 31795, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=693, frequency (Hz): min=520, max=15306
Sync err accum 88, peak jitter -1/0, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 717345936 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, curr
2025-04-29 06:27:08 [debug] Driver 0: pos -9616, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20569, writes 11 timeouts 1
2025-04-29 06:27:08 [debug] Last sensors broadcast 0x00000000 found 0 68 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 112, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 393, adv 36035/37108
2025-04-29 06:27:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10465, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:27:08 [info] currentZPosition:0.0187
2025-04-29 06:27:08 [debug] Stopped at height 0.017 mm
2025-04-29 06:27:09 [debug] Stopped at height 0.019 mm
2025-04-29 06:27:09 [debug] Diagnostics for board 50:
2025-04-29 06:27:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:27:09 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.7%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:15:01 ago, cause: software
2025-04-29 06:27:09 [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
2025-04-29 06:27:09 [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
2025-04-29 06:27:09 [debug] Moves scheduled 31801, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=788, frequency (Hz): min=1177, max=15306
Sync err accum 79, peak jitter -2/-1, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 716093353 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:27:09 [debug] Driver 0: pos -9614, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 19910, writes 11 timeouts 1
2025-04-29 06:27:09 [debug] Last sensors broadcast 0x00000000 found 0 237 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 93, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36235/37116
2025-04-29 06:27:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10493, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:27:10 [info] currentZPosition:0.0189
2025-04-29 06:27:10 [debug] Stopped at height 0.017 mm
2025-04-29 06:27:11 [debug] Stopped at height 0.019 mm
2025-04-29 06:27:11 [debug] Diagnostics for board 50:
2025-04-29 06:27:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:27:11 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.5%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:15:02 ago, cause: software
2025-04-29 06:27:11 [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
2025-04-29 06:27:11 [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
2025-04-29 06:27:11 [debug] Moves scheduled 31807, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=549, frequency (Hz): min=641, max=15306
Sync err accum 70, peak jitter -2/0, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 714802894 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 3
2025-04-29 06:27:11 [debug] Driver 0: pos -9612, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20600, writes 0 timeouts 0
2025-04-29 06:27:11 [debug] Last sensors broadcast 0x00000000 found 0 210 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 99, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36002/37129
2025-04-29 06:27:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10462, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:27:11 [info] currentZPosition:0.0191
2025-04-29 06:27:12 [debug] Stopped at height 0.017 mm
2025-04-29 06:27:13 [debug] Stopped at height 0.019 mm
2025-04-29 06:27:13 [debug] Diagnostics for board 50:
2025-04-29 06:27:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:27:13 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.1%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:15:04 ago, cause: software
2025-04-29 06:27:13 [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
2025-04-29 06:27:13 [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
2025-04-29 06:27:13 [debug] Moves scheduled 31813, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 591, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=681, frequency (Hz): min=1386, max=15306
Sync err accum 66, peak jitter -2/2, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, CC0 mismatch!!, next step interrupt due in 713540507 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 06:27:13 [debug] Driver 0: pos -9614, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 19988, writes 0 timeouts 0
2025-04-29 06:27:13 [debug] Last sensors broadcast 0x00000000 found 0 142 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 101, 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 450, adv 36390/37129
2025-04-29 06:27:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10468, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:27:13 [info] currentZPosition:0.0189
2025-04-29 06:27:13 [debug] Stopped at height 0.018 mm
2025-04-29 06:27:15 [debug] Stopped at height 0.018 mm
2025-04-29 06:27:15 [debug] Diagnostics for board 50:
2025-04-29 06:27:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:27:15 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.4%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:15:06 ago, cause: software
2025-04-29 06:27:15 [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
2025-04-29 06:27:15 [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
2025-04-29 06:27:15 [debug] Moves scheduled 31819, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=681, frequency (Hz): min=1299, max=15306
Sync err accum 70, peak jitter 0/1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 712235648 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, curr
2025-04-29 06:27:15 [debug] Driver 0: pos -9620, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20844, writes 0 timeouts 0
2025-04-29 06:27:15 [debug] Last sensors broadcast 0x00000000 found 0 133 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 95, 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 382, adv 36024/37158
2025-04-29 06:27:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10474, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:27:15 [info] currentZPosition:0.0183
2025-04-29 06:27:16 [debug] Stopped at height 0.020 mm
2025-04-29 06:27:16 [debug] Diagnostics for board 50:
2025-04-29 06:27:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:27:16 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:15:07 ago, cause: software
2025-04-29 06:27:16 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:27:16 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:27:16 [debug] Moves scheduled 31823, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 339, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=536, frequency (Hz): min=1609, max=15306
Sync err accum 68, peak jitter -1/0, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 711233984 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 06:27:16 [debug] Driver 0: pos -9607, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15869, writes 0 timeouts 0
2025-04-29 06:27:16 [debug] Last sensors broadcast 0x00000000 found 0 221 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 78, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36361/37154
2025-04-29 06:27:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10405, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:27:16 [info] currentZPosition:0.0197
2025-04-29 06:27:16 [debug] Stopped at height 0.018 mm
2025-04-29 06:27:18 [debug] Stopped at height 0.017 mm
2025-04-29 06:27:18 [debug] Diagnostics for board 50:
2025-04-29 06:27:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:27:18 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:15:09 ago, cause: software
2025-04-29 06:27:18 [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
2025-04-29 06:27:18 [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
2025-04-29 06:27:18 [debug] Moves scheduled 31829, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=5, max=552, frequency (Hz): min=1578, max=15306
Sync err accum 65, peak jitter -1/0, peak Rx delay 196, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 709885144 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:27:18 [debug] Driver 0: pos -9634, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 21466, writes 0 timeouts 0
2025-04-29 06:27:18 [debug] Last sensors broadcast 0x00000000 found 0 19 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 108, 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 365, adv 36052/37148
2025-04-29 06:27:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2281
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10574, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4696, no error
Lin: Encoder reverse polarity: no, raw count 2281
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:27:18 [info] currentZPosition:0.0171
2025-04-29 06:27:19 [debug] Stopped at height 0.018 mm
2025-04-29 06:27:19 [debug] Diagnostics for board 50:
2025-04-29 06:27:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:27:19 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:15:10 ago, cause: software
2025-04-29 06:27:19 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:27:19 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:27:19 [debug] Moves scheduled 31833, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 306, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=576, frequency (Hz): min=1515, max=15306
Sync err accum 64, peak jitter -2/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 708867637 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 06:27:19 [debug] Driver 0: pos -9626, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15912, writes 0 timeouts 0
2025-04-29 06:27:19 [debug] Last sensors broadcast 0x00000000 found 0 126 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 82, 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 385, adv 36390/37123
2025-04-29 06:27:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10524, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2281
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:27:19 [info] currentZPosition:0.0179
2025-04-29 06:27:20 [debug] Stopped at height 0.019 mm
2025-04-29 06:27:20 [debug] Diagnostics for board 50:
2025-04-29 06:27:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:27:20 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 17:15:12 ago, cause: software
2025-04-29 06:27:20 [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
2025-04-29 06:27:20 [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
2025-04-29 06:27:20 [debug] Moves scheduled 31837, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 332, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=488, frequency (Hz): min=1524, max=15306
Sync err accum 67, peak jitter -1/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 707828421 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:27:20 [debug] Driver 0: pos -9613, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16379, writes 0 timeouts 0
2025-04-29 06:27:20 [debug] Last sensors broadcast 0x00000000 found 0 9 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 82, 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 499, adv 36015/37122
2025-04-29 06:27:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10417, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:27:21 [info] currentZPosition:0.0192
2025-04-29 06:27:21 [debug] Stopped at height 0.018 mm
2025-04-29 06:27:22 [debug] Stopped at height 0.018 mm
2025-04-29 06:27:22 [debug] Diagnostics for board 50:
2025-04-29 06:27:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:27:22 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.6%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:15:13 ago, cause: software
2025-04-29 06:27:22 [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
2025-04-29 06:27:22 [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
2025-04-29 06:27:22 [debug] Moves scheduled 31843, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 161, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=457, frequency (Hz): min=744, max=15306
Sync err accum 72, peak jitter 0/2, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 706549690 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, curre
2025-04-29 06:27:22 [debug] Driver 0: pos -9622, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20305, writes 22 timeouts 2
2025-04-29 06:27:22 [debug] Last sensors broadcast 0x00000000 found 0 212 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 95, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36326/37124
2025-04-29 06:27:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10490, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:27:22 [info] currentZPosition:0.0184
2025-04-29 06:27:24 [debug] Stopped at height 0.019 mm
2025-04-29 06:27:24 [debug] Diagnostics for board 50:
2025-04-29 06:27:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:27:24 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:15:15 ago, cause: software
2025-04-29 06:27:24 [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
2025-04-29 06:27:24 [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
2025-04-29 06:27:24 [debug] Moves scheduled 31847, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=514, frequency (Hz): min=1476, max=15306
Sync err accum 70, peak jitter -1/0, peak Rx delay 185, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 705508866 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:27:24 [debug] Driver 0: pos -9614, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16496, writes 0 timeouts 0
2025-04-29 06:27:24 [debug] Last sensors broadcast 0x00000000 found 0 103 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 84, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 392, adv 36001/37146
2025-04-29 06:27:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10463, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:27:24 [info] currentZPosition:0.0192
2025-04-29 06:27:25 [debug] Stopped at height 0.018 mm
2025-04-29 06:27:25 [debug] Diagnostics for board 50:
2025-04-29 06:27:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:27:25 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:15:16 ago, cause: software
2025-04-29 06:27:25 [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
2025-04-29 06:27:25 [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
2025-04-29 06:27:25 [debug] Moves scheduled 31851, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=632, frequency (Hz): min=1203, max=15625
Sync err accum 67, peak jitter -1/0, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 704453165 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 06:27:25 [debug] Driver 0: pos -9627, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16581, writes 0 timeouts 0
2025-04-29 06:27:25 [debug] Last sensors broadcast 0x00000000 found 0 10 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 87, 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 374, adv 36347/37169
2025-04-29 06:27:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2280
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10518, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:27:25 [info] currentZPosition:0.0179
2025-04-29 06:27:25 [debug] Stopped at height 0.018 mm
2025-04-29 06:27:27 [debug] Stopped at height 0.019 mm
2025-04-29 06:27:27 [debug] Diagnostics for board 50:
2025-04-29 06:27:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:27:27 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.3%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:15:18 ago, cause: software
2025-04-29 06:27:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:27:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:27:27 [debug] Moves scheduled 31857, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 312, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=686, frequency (Hz): min=681, max=15306
Sync err accum 64, peak jitter -1/1, peak Rx delay 184, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 703188062 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 3
2025-04-29 06:27:27 [debug] Driver 0: pos -9613, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20235, writes 11 timeouts 1
2025-04-29 06:27:27 [debug] Last sensors broadcast 0x00000000 found 0 196 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 86, 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 372, adv 36085/37121
2025-04-29 06:27:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2279
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10455, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:27:27 [info] currentZPosition:0.0193
2025-04-29 06:27:28 [debug] Stopped at height 0.017 mm
2025-04-29 06:27:28 [debug] Diagnostics for board 50:
2025-04-29 06:27:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:27:28 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:15:19 ago, cause: software
2025-04-29 06:27:28 [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
2025-04-29 06:27:28 [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
2025-04-29 06:27:28 [debug] Moves scheduled 31861, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=701, frequency (Hz): min=1171, max=15625
Sync err accum 67, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 702121711 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, curr
2025-04-29 06:27:28 [debug] Driver 0: pos -9632, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16840, writes 0 timeouts 0
2025-04-29 06:27:28 [debug] Last sensors broadcast 0x00000000 found 0 120 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 93, send timeouts 0, received 22, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36341/37129
2025-04-29 06:27:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2281
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10565, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4696, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:27:28 [info] currentZPosition:0.0174
2025-04-29 06:27:29 [debug] Stopped at height 0.016 mm
2025-04-29 06:27:30 [debug] Stopped at height 0.019 mm
2025-04-29 06:27:30 [debug] Diagnostics for board 50:
2025-04-29 06:27:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:27:30 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.2%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:15:21 ago, cause: software
2025-04-29 06:27:30 [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
2025-04-29 06:27:30 [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
2025-04-29 06:27:30 [debug] Moves scheduled 31867, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=825, frequency (Hz): min=486, max=15306
Sync err accum 66, peak jitter -1/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 700847333 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-29 06:27:30 [debug] Driver 0: pos -9614, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20133, writes 11 timeouts 1
2025-04-29 06:27:30 [debug] Last sensors broadcast 0x00000000 found 0 66 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 93, 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 385, adv 36020/37157
2025-04-29 06:27:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2280
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10444, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:27:30 [info] currentZPosition:0.0191
2025-04-29 06:27:30 [debug] Stopped at height 0.018 mm
2025-04-29 06:27:31 [debug] Stopped at height 0.018 mm
2025-04-29 06:27:31 [debug] Diagnostics for board 50:
2025-04-29 06:27:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:27:31 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.1%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:15:23 ago, cause: software
2025-04-29 06:27:31 [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
2025-04-29 06:27:31 [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
2025-04-29 06:27:31 [debug] Moves scheduled 31873, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 306, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=676, frequency (Hz): min=1353, max=15306
Sync err accum 67, peak jitter -2/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 699565198 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:27:31 [debug] Driver 0: pos -9624, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20588, writes 0 timeouts 0
2025-04-29 06:27:31 [debug] Last sensors broadcast 0x00000000 found 0 26 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 94, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36382/37106
2025-04-29 06:27:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10499, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4697, no error
Lin: Encoder reverse polarity: no, raw count 2280
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:27:32 [info] currentZPosition:0.0181
2025-04-29 06:27:33 [debug] Stopped at height 0.019 mm
2025-04-29 06:27:33 [debug] Diagnostics for board 50:
2025-04-29 06:27:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:27:33 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:15:24 ago, cause: software
2025-04-29 06:27:33 [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
2025-04-29 06:27:33 [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
2025-04-29 06:27:33 [debug] Moves scheduled 31877, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=741, frequency (Hz): min=1243, max=15306
Sync err accum 72, peak jitter 0/1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 698521695 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-29 06:27:33 [debug] Driver 0: pos -9616, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16609, writes 0 timeouts 0
2025-04-29 06:27:33 [debug] Last sensors broadcast 0x00000000 found 0 166 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 79, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 367, adv 36028/37148
2025-04-29 06:27:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10464, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:27:33 [info] currentZPosition:0.0189
2025-04-29 06:27:34 [debug] Stopped at height 0.019 mm
2025-04-29 06:27:34 [debug] Diagnostics for board 50:
2025-04-29 06:27:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:27:34 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:15:26 ago, cause: software
2025-04-29 06:27:34 [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
2025-04-29 06:27:34 [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
2025-04-29 06:27:34 [debug] Moves scheduled 31881, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 239, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=426, frequency (Hz): min=1861, max=15625
Sync err accum 75, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 697489533 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, curr
2025-04-29 06:27:34 [debug] Driver 0: pos -9617, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16371, writes 0 timeouts 0
2025-04-29 06:27:34 [debug] Last sensors broadcast 0x00000000 found 0 43 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 86, 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 375, adv 36340/37143
2025-04-29 06:27:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10438, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:27:34 [info] currentZPosition:0.0188
2025-04-29 06:27:36 [debug] Stopped at height 0.017 mm
2025-04-29 06:27:36 [debug] Diagnostics for board 50:
2025-04-29 06:27:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:27:36 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.3%,255), total 99.5%
Owned mutexes:
Last reset 17:15:27 ago, cause: software
2025-04-29 06:27:36 [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
2025-04-29 06:27:36 [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
2025-04-29 06:27:36 [debug] Moves scheduled 31885, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 266, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=685, frequency (Hz): min=485, max=15306
Sync err accum 71, peak jitter -2/0, peak Rx delay 210, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 696406622 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, curr
2025-04-29 06:27:36 [debug] Driver 0: pos -9633, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17111, writes 11 timeouts 1
2025-04-29 06:27:36 [debug] Last sensors broadcast 0x00000000 found 0 239 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 83, 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 444, adv 36014/37098
2025-04-29 06:27:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2279
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10598, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4696, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:27:36 [info] currentZPosition:0.0172
2025-04-29 06:27:36 [debug] Stopped at height 0.016 mm
2025-04-29 06:27:37 [debug] Stopped at height 0.017 mm
2025-04-29 06:27:37 [debug] Diagnostics for board 50:
2025-04-29 06:27:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:27:37 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.6%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.4%
Owned mutexes:
Last reset 17:15:29 ago, cause: software
2025-04-29 06:27:37 [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
2025-04-29 06:27:37 [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
2025-04-29 06:27:37 [debug] Moves scheduled 31891, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=654, frequency (Hz): min=1277, max=15306
Sync err accum 63, peak jitter -2/0, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 695126308 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:27:37 [debug] Driver 0: pos -9634, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20161, writes 0 timeouts 0
2025-04-29 06:27:37 [debug] Last sensors broadcast 0x00000000 found 0 197 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 115, 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 673, adv 36388/37166
2025-04-29 06:27:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2282
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10569, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2281
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:27:37 [info] currentZPosition:0.0171
2025-04-29 06:27:39 [debug] Stopped at height 0.019 mm
2025-04-29 06:27:39 [debug] Diagnostics for board 50:
2025-04-29 06:27:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:27:39 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:15:30 ago, cause: software
2025-04-29 06:27:39 [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
2025-04-29 06:27:39 [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
2025-04-29 06:27:39 [debug] Moves scheduled 31895, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 327, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=554, frequency (Hz): min=1588, max=15306
Sync err accum 70, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, CC0 mismatch!!, next step interrupt due in 694097738 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-29 06:27:39 [debug] Driver 0: pos -9617, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16217, writes 0 timeouts 0
2025-04-29 06:27:39 [debug] Last sensors broadcast 0x00000000 found 0 65 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 83, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36060/37092
2025-04-29 06:27:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2279
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10443, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:27:39 [info] currentZPosition:0.0188
2025-04-29 06:27:39 [debug] Stopped at height 0.019 mm
2025-04-29 06:27:40 [debug] Stopped at height 0.017 mm
2025-04-29 06:27:40 [debug] Diagnostics for board 50:
2025-04-29 06:27:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:27:40 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.5%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:15:32 ago, cause: software
2025-04-29 06:27:40 [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
2025-04-29 06:27:40 [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
2025-04-29 06:27:40 [debug] Moves scheduled 31901, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=586, frequency (Hz): min=1445, max=15306
Sync err accum 76, peak jitter 0/2, peak Rx delay 207, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 692806334 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 3
2025-04-29 06:27:40 [debug] Driver 0: pos -9634, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20580, writes 0 timeouts 0
2025-04-29 06:27:40 [debug] Last sensors broadcast 0x00000000 found 0 39 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 99, 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 374, adv 36342/37119
2025-04-29 06:27:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2281
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10597, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2282
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:27:41 [info] currentZPosition:0.0171
2025-04-29 06:27:41 [debug] Stopped at height 0.015 mm
2025-04-29 06:27:41 [debug] Stopped at height 0.015 mm
2025-04-29 06:27:42 [warn] Error: G30: Probe already triggered at start of probing move
2025-04-29 06:27:42 [debug] Diagnostics for board 50:
2025-04-29 06:27:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:27:42 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.9%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:15:34 ago, cause: software
2025-04-29 06:27:42 [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
2025-04-29 06:27:42 [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
2025-04-29 06:27:42 [debug] Moves scheduled 31908, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 573, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=584, frequency (Hz): min=1217, max=15306
Sync err accum 79, peak jitter -1/1, peak Rx delay 184, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 691416081 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:27:42 [debug] Driver 0: pos -9575, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 21868, writes 0 timeouts 0
2025-04-29 06:27:42 [debug] Last sensors broadcast 0x00000000 found 0 142 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 118, 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 457, adv 36029/37173
2025-04-29 06:27:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2271
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10270, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2266
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:27:42 [info] currentZPosition:0.0232
2025-04-29 06:27:43 [debug] Stopped at height 0.019 mm
2025-04-29 06:27:43 [debug] Stopped at height 0.019 mm
2025-04-29 06:27:44 [debug] Stopped at height 0.019 mm
2025-04-29 06:27:44 [debug] Diagnostics for board 50:
2025-04-29 06:27:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:27:44 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,3.4%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:15:36 ago, cause: software
2025-04-29 06:27:44 [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
2025-04-29 06:27:44 [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
2025-04-29 06:27:44 [debug] Moves scheduled 31916, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 244, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=502, frequency (Hz): min=1681, max=15306
Sync err accum 76, peak jitter -1/0, peak Rx delay 191, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 689823617 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:27:44 [debug] Driver 0: pos -9620, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 25715, writes 0 timeouts 0
2025-04-29 06:27:44 [debug] Last sensors broadcast 0x00000000 found 0 16 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 101, send timeouts 0, received 35, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36328/37154
2025-04-29 06:27:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10470, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2279
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:27:45 [info] currentZPosition:0.0187
2025-04-29 06:27:46 [debug] Stopped at height 0.019 mm
2025-04-29 06:27:46 [debug] Diagnostics for board 50:
2025-04-29 06:27:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:27:46 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.1%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:15:37 ago, cause: software
2025-04-29 06:27:46 [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
2025-04-29 06:27:46 [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
2025-04-29 06:27:46 [debug] Moves scheduled 31920, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 313, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=553, frequency (Hz): min=1459, max=15306
Sync err accum 67, peak jitter -2/-1, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 5 ticks, enabled, next step interrupt due in 688768569 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:27:46 [debug] Driver 0: pos -9616, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16726, writes 0 timeouts 0
2025-04-29 06:27:46 [debug] Last sensors broadcast 0x00000000 found 0 173 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 81, 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 364, adv 36030/37115
2025-04-29 06:27:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10465, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:27:46 [info] currentZPosition:0.0191
2025-04-29 06:27:47 [debug] Stopped at height 0.019 mm
2025-04-29 06:27:47 [debug] Diagnostics for board 50:
2025-04-29 06:27:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:27:47 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:15:39 ago, cause: software
2025-04-29 06:27:47 [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
2025-04-29 06:27:47 [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
2025-04-29 06:27:47 [debug] Moves scheduled 31924, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 403, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=581, frequency (Hz): min=944, max=15306
Sync err accum 65, peak jitter -2/2, peak Rx delay 178, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 687741420 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 3
2025-04-29 06:27:47 [debug] Driver 0: pos -9616, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16214, writes 11 timeouts 1
2025-04-29 06:27:47 [debug] Last sensors broadcast 0x00000000 found 0 42 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 84, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36348/37109
2025-04-29 06:27:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10469, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4696, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:27:47 [info] currentZPosition:0.0191
2025-04-29 06:27:49 [debug] Stopped at height 0.018 mm
2025-04-29 06:27:49 [debug] Diagnostics for board 50:
2025-04-29 06:27:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:27:49 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:15:40 ago, cause: software
2025-04-29 06:27:49 [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
2025-04-29 06:27:49 [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
2025-04-29 06:27:49 [debug] Moves scheduled 31928, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 238, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=629, frequency (Hz): min=1376, max=15306
Sync err accum 68, peak jitter 0/1, peak Rx delay 173, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 686650876 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 3
2025-04-29 06:27:49 [debug] Driver 0: pos -9630, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17234, writes 0 timeouts 0
2025-04-29 06:27:49 [debug] Last sensors broadcast 0x00000000 found 0 245 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 82, 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 370, adv 36040/37156
2025-04-29 06:27:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2279
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10547, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4696, no error
Lin: Encoder reverse polarity: no, raw count 2280
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:27:49 [info] currentZPosition:0.0177
2025-04-29 06:27:49 [debug] Stopped at height 0.017 mm
2025-04-29 06:27:50 [debug] Stopped at height 0.019 mm
2025-04-29 06:27:50 [debug] Diagnostics for board 50:
2025-04-29 06:27:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:27:50 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.9%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:15:42 ago, cause: software
2025-04-29 06:27:50 [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
2025-04-29 06:27:50 [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
2025-04-29 06:27:50 [debug] Moves scheduled 31934, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=590, frequency (Hz): min=1366, max=15306
Sync err accum 68, peak jitter 0/0, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 685400661 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 3
2025-04-29 06:27:50 [debug] Driver 0: pos -9620, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 19874, writes 0 timeouts 0
2025-04-29 06:27:50 [debug] Last sensors broadcast 0x00000000 found 0 164 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 95, 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 385, adv 36337/37107
2025-04-29 06:27:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10425, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:27:50 [info] currentZPosition:0.0187
2025-04-29 06:27:51 [debug] Stopped at height 0.019 mm
2025-04-29 06:27:52 [debug] Stopped at height 0.017 mm
2025-04-29 06:27:52 [debug] Diagnostics for board 50:
2025-04-29 06:27:52 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:27:52 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.6%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:15:43 ago, cause: software
2025-04-29 06:27:52 [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
2025-04-29 06:27:52 [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
2025-04-29 06:27:52 [debug] Moves scheduled 31940, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 288, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=737, frequency (Hz): min=717, max=15306
Sync err accum 64, peak jitter -1/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 0 ticks, enabled, next step interrupt due in 684079564 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, curr
2025-04-29 06:27:52 [debug] Driver 0: pos -9634, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20981, writes 11 timeouts 1
2025-04-29 06:27:52 [debug] Last sensors broadcast 0x00000000 found 0 174 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 103, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 397, adv 36077/37128
2025-04-29 06:27:52 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2279
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10578, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2284
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:27:52 [info] currentZPosition:0.0174
2025-04-29 06:27:53 [debug] Stopped at height 0.017 mm
2025-04-29 06:27:54 [debug] Stopped at height 0.017 mm
2025-04-29 06:27:54 [debug] Diagnostics for board 50:
2025-04-29 06:27:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:27:54 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:15:45 ago, cause: software
2025-04-29 06:27:54 [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
2025-04-29 06:27:54 [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
2025-04-29 06:27:54 [debug] Moves scheduled 31946, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=508, frequency (Hz): min=1540, max=15306
Sync err accum 71, peak jitter -1/2, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 682812072 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:27:54 [debug] Driver 0: pos -9633, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20047, writes 0 timeouts 0
2025-04-29 06:27:54 [debug] Last sensors broadcast 0x00000000 found 0 118 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 95, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 368, adv 36338/37157
2025-04-29 06:27:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2281
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10574, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4694, no error
Lin: Encoder reverse polarity: no, raw count 2281
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:27:54 [info] currentZPosition:0.0175
2025-04-29 06:27:55 [warn] Error: G30: Probe already triggered at start of probing move
2025-04-29 06:27:55 [debug] Diagnostics for board 50:
2025-04-29 06:27:55 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:27:55 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.8%
Owned mutexes:
Last reset 17:15:46 ago, cause: software
2025-04-29 06:27:55 [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
2025-04-29 06:27:55 [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
2025-04-29 06:27:55 [debug] Moves scheduled 31949, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=504, frequency (Hz): min=1552, max=15306
Sync err accum 82, peak jitter 1/2, peak Rx delay 178, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 681939926 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, curr
2025-04-29 06:27:55 [debug] Driver 0: pos -9552, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 13577, writes 0 timeouts 0
2025-04-29 06:27:55 [debug] Last sensors broadcast 0x00000000 found 0 25 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 74, send timeouts 0, received 16, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 379, adv 36044/37095
2025-04-29 06:27:55 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2264
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10113, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4709, no error
Lin: Encoder reverse polarity: no, raw count 2256
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:27:55 [info] currentZPosition:0.0255
2025-04-29 06:27:56 [debug] Stopped at height 0.019 mm
2025-04-29 06:27:56 [debug] Stopped at height 0.019 mm
2025-04-29 06:27:57 [debug] Stopped at height 0.017 mm
2025-04-29 06:27:57 [debug] Diagnostics for board 50:
2025-04-29 06:27:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:27:57 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,3.8%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:15:48 ago, cause: software
2025-04-29 06:27:57 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:27:57 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:27:57 [debug] Moves scheduled 31957, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 1019, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=481, frequency (Hz): min=1258, max=15306
Sync err accum 90, peak jitter 0/2, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 680277899 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:27:57 [debug] Driver 0: pos -9637, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 26692, writes 0 timeouts 0
2025-04-29 06:27:57 [debug] Last sensors broadcast 0x00000000 found 0 244 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 120, 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 388, adv 36294/37124
2025-04-29 06:27:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2284
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10588, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2281
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:27:57 [info] currentZPosition:0.0171
2025-04-29 06:27:58 [debug] Stopped at height 0.016 mm
2025-04-29 06:27:59 [debug] Stopped at height 0.017 mm
2025-04-29 06:27:59 [debug] Diagnostics for board 50:
2025-04-29 06:27:59 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:27:59 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.9%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:15:50 ago, cause: software
2025-04-29 06:27:59 [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
2025-04-29 06:27:59 [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
2025-04-29 06:27:59 [debug] Moves scheduled 31963, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=608, frequency (Hz): min=1260, max=15306
Sync err accum 89, peak jitter -1/0, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 678962998 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:27:59 [debug] Driver 0: pos -9638, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20679, writes 0 timeouts 0
2025-04-29 06:27:59 [debug] Last sensors broadcast 0x00000000 found 0 2 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 117, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36076/37114
2025-04-29 06:27:59 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2284
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10607, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:27:59 [info] currentZPosition:0.0170
2025-04-29 06:28:00 [debug] Stopped at height 0.020 mm
2025-04-29 06:28:00 [debug] Diagnostics for board 50:
2025-04-29 06:28:00 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:28:00 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:15:52 ago, cause: software
2025-04-29 06:28:00 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:28:00 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:28:00 [debug] Moves scheduled 31967, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 160, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=753, frequency (Hz): min=1104, max=15306
Sync err accum 84, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 677987708 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:28:00 [debug] Driver 0: pos -9609, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15222, writes 0 timeouts 0
2025-04-29 06:28:00 [debug] Last sensors broadcast 0x00000000 found 0 47 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 78, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 363, adv 36322/37136
2025-04-29 06:28:00 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10412, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:28:00 [info] currentZPosition:0.0199
2025-04-29 06:28:01 [debug] Stopped at height 0.017 mm
2025-04-29 06:28:02 [debug] Stopped at height 0.017 mm
2025-04-29 06:28:02 [debug] Diagnostics for board 50:
2025-04-29 06:28:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:28:02 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.1%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:15:53 ago, cause: software
2025-04-29 06:28:02 [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
2025-04-29 06:28:02 [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
2025-04-29 06:28:02 [debug] Moves scheduled 31973, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=738, frequency (Hz): min=1229, max=15306
Sync err accum 75, peak jitter -2/0, peak Rx delay 210, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 676642095 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:28:02 [debug] Driver 0: pos -9637, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 21261, writes 0 timeouts 0
2025-04-29 06:28:02 [debug] Last sensors broadcast 0x00000000 found 0 90 ticks ago, 0 ordering errs, loop time 2
CAN messages queued 123, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36045/37094
2025-04-29 06:28:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2279
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10607, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2285
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:28:02 [info] currentZPosition:0.0171
2025-04-29 06:28:03 [warn] Error: G30: Probe already triggered at start of probing move
2025-04-29 06:28:03 [debug] Diagnostics for board 50:
2025-04-29 06:28:03 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:28:03 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:15:54 ago, cause: software
2025-04-29 06:28:03 [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
2025-04-29 06:28:03 [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
2025-04-29 06:28:03 [debug] Moves scheduled 31976, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 275, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=601, frequency (Hz): min=1273, max=15625
Sync err accum 63, peak jitter -3/-1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 675812319 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max
2025-04-29 06:28:03 [debug] Driver 0: pos -9556, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 12981, writes 0 timeouts 0
2025-04-29 06:28:03 [debug] Last sensors broadcast 0x00000000 found 0 199 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 72, send timeouts 0, received 16, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 498, adv 36317/37126
2025-04-29 06:28:03 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2261
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10088, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4706, no error
Lin: Encoder reverse polarity: no, raw count 2263
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:28:03 [info] currentZPosition:0.0251
2025-04-29 06:28:04 [debug] Stopped at height 0.017 mm
2025-04-29 06:28:05 [debug] Stopped at height 0.018 mm
2025-04-29 06:28:05 [debug] Diagnostics for board 50:
2025-04-29 06:28:05 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:28:05 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:15:56 ago, cause: software
2025-04-29 06:28:05 [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
2025-04-29 06:28:05 [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
2025-04-29 06:28:05 [debug] Moves scheduled 31982, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 372, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=681, frequency (Hz): min=1275, max=15306
Sync err accum 68, peak jitter -1/2, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 674379841 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:28:05 [debug] Driver 0: pos -9629, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 22747, writes 0 timeouts 0
2025-04-29 06:28:05 [debug] Last sensors broadcast 0x00000000 found 0 107 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 110, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36015/37167
2025-04-29 06:28:05 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2282
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10588, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:28:05 [info] currentZPosition:0.0179
2025-04-29 06:28:06 [debug] Stopped at height 0.019 mm
2025-04-29 06:28:06 [debug] Diagnostics for board 50:
2025-04-29 06:28:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:28:06 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.2%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:15:58 ago, cause: software
2025-04-29 06:28:06 [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
2025-04-29 06:28:06 [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
2025-04-29 06:28:06 [debug] Moves scheduled 31986, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 315, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=536, frequency (Hz): min=1373, max=15306
Sync err accum 68, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 673372628 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 06:28:06 [debug] Driver 0: pos -9619, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15824, writes 0 timeouts 0
2025-04-29 06:28:06 [debug] Last sensors broadcast 0x00000000 found 0 200 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 79, 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 357, adv 36352/37100
2025-04-29 06:28:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10478, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:28:06 [info] currentZPosition:0.0190
2025-04-29 06:28:08 [debug] Stopped at height 0.020 mm
2025-04-29 06:28:08 [debug] Diagnostics for board 50:
2025-04-29 06:28:08 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:28:08 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:15:59 ago, cause: software
2025-04-29 06:28:08 [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
2025-04-29 06:28:08 [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
2025-04-29 06:28:08 [debug] Moves scheduled 31990, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 816, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=802, frequency (Hz): min=1112, max=15306
Sync err accum 68, 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 672330245 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 06:28:08 [debug] Driver 0: pos -9609, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16476, writes 0 timeouts 0
2025-04-29 06:28:08 [debug] Last sensors broadcast 0x00000000 found 0 91 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 83, 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 381, adv 36095/37088
2025-04-29 06:28:08 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10412, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:28:08 [info] currentZPosition:0.0200
2025-04-29 06:28:09 [debug] Stopped at height 0.019 mm
2025-04-29 06:28:09 [debug] Diagnostics for board 50:
2025-04-29 06:28:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:28:09 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 17:16:00 ago, cause: software
2025-04-29 06:28:09 [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
2025-04-29 06:28:09 [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
2025-04-29 06:28:09 [debug] Moves scheduled 31994, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 271, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=602, frequency (Hz): min=1245, max=15306
Sync err accum 63, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 671282373 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:28:09 [debug] Driver 0: pos -9622, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16604, writes 0 timeouts 0
2025-04-29 06:28:09 [debug] Last sensors broadcast 0x00000000 found 0 237 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 79, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36205/37102
2025-04-29 06:28:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10495, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2281
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:28:09 [info] currentZPosition:0.0187
2025-04-29 06:28:10 [debug] Stopped at height 0.019 mm
2025-04-29 06:28:11 [debug] Stopped at height 0.019 mm
2025-04-29 06:28:11 [debug] Diagnostics for board 50:
2025-04-29 06:28:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:28:11 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.2%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:16:02 ago, cause: software
2025-04-29 06:28:11 [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
2025-04-29 06:28:11 [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
2025-04-29 06:28:11 [debug] Moves scheduled 32000, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=513, frequency (Hz): min=1700, max=15306
Sync err accum 69, peak jitter 0/2, peak Rx delay 186, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 669988720 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, curr
2025-04-29 06:28:11 [debug] Driver 0: pos -9621, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20703, writes 0 timeouts 0
2025-04-29 06:28:11 [debug] Last sensors broadcast 0x00000000 found 0 213 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 103, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36100/37126
2025-04-29 06:28:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10499, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:28:11 [info] currentZPosition:0.0188
2025-04-29 06:28:12 [debug] Stopped at height 0.019 mm
2025-04-29 06:28:12 [debug] Diagnostics for board 50:
2025-04-29 06:28:12 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:28:12 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:16:04 ago, cause: software
2025-04-29 06:28:12 [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
2025-04-29 06:28:12 [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
2025-04-29 06:28:12 [debug] Moves scheduled 32004, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=678, frequency (Hz): min=1293, max=15306
Sync err accum 69, peak jitter -1/2, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 668960900 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:28:12 [debug] Driver 0: pos -9623, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16226, writes 0 timeouts 0
2025-04-29 06:28:12 [debug] Last sensors broadcast 0x00000000 found 0 83 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 85, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36080/37118
2025-04-29 06:28:12 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10491, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2279
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:28:12 [info] currentZPosition:0.0186
2025-04-29 06:28:14 [debug] Stopped at height 0.018 mm
2025-04-29 06:28:14 [debug] Diagnostics for board 50:
2025-04-29 06:28:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:28:14 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:16:05 ago, cause: software
2025-04-29 06:28:14 [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
2025-04-29 06:28:14 [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
2025-04-29 06:28:14 [debug] Moves scheduled 32008, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=532, frequency (Hz): min=1322, max=15306
Sync err accum 65, peak jitter -2/0, peak Rx delay 201, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 667891336 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:28:14 [debug] Driver 0: pos -9625, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16821, writes 0 timeouts 0
2025-04-29 06:28:14 [debug] Last sensors broadcast 0x00000000 found 0 9 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 89, 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 363, adv 36053/37120
2025-04-29 06:28:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2279
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10507, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4697, no error
Lin: Encoder reverse polarity: no, raw count 2280
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:28:14 [info] currentZPosition:0.0184
2025-04-29 06:28:15 [debug] Stopped at height 0.019 mm
2025-04-29 06:28:15 [debug] Diagnostics for board 50:
2025-04-29 06:28:15 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:28:15 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.9%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:16:06 ago, cause: software
2025-04-29 06:28:15 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:28:15 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:28:15 [debug] Moves scheduled 32012, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 394, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=494, frequency (Hz): min=614, max=15306
Sync err accum 66, peak jitter -2/3, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 666877745 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, curr
2025-04-29 06:28:15 [debug] Driver 0: pos -9616, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15916, writes 11 timeouts 1
2025-04-29 06:28:15 [debug] Last sensors broadcast 0x00000000 found 0 110 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 83, 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 368, adv 36090/37102
2025-04-29 06:28:15 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10477, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:28:15 [info] currentZPosition:0.0193
2025-04-29 06:28:16 [debug] Stopped at height 0.018 mm
2025-04-29 06:28:16 [debug] Diagnostics for board 50:
2025-04-29 06:28:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:28:16 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:16:08 ago, cause: software
2025-04-29 06:28:16 [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
2025-04-29 06:28:16 [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
2025-04-29 06:28:16 [debug] Moves scheduled 32016, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=606, frequency (Hz): min=1412, max=15306
Sync err accum 83, peak jitter 2/3, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 665789975 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 3
2025-04-29 06:28:16 [debug] Driver 0: pos -9627, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17149, writes 0 timeouts 0
2025-04-29 06:28:16 [debug] Last sensors broadcast 0x00000000 found 0 60 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 91, 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 378, adv 36044/37097
2025-04-29 06:28:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2280
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10533, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:28:17 [info] currentZPosition:0.0182
2025-04-29 06:28:18 [debug] Stopped at height 0.020 mm
2025-04-29 06:28:18 [debug] Diagnostics for board 50:
2025-04-29 06:28:18 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:28:18 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:16:09 ago, cause: software
2025-04-29 06:28:18 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:28:18 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:28:18 [debug] Moves scheduled 32020, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=685, frequency (Hz): min=1320, max=15306
Sync err accum 95, peak jitter 1/3, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 664791067 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 3
2025-04-29 06:28:18 [debug] Driver 0: pos -9613, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15822, writes 0 timeouts 0
2025-04-29 06:28:18 [debug] Last sensors broadcast 0x00000000 found 0 143 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 79, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 390, adv 36058/37165
2025-04-29 06:28:18 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10471, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:28:18 [info] currentZPosition:0.0196
2025-04-29 06:28:18 [debug] Stopped at height 0.019 mm
2025-04-29 06:28:20 [debug] Stopped at height 0.019 mm
2025-04-29 06:28:20 [debug] Diagnostics for board 50:
2025-04-29 06:28:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:28:20 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.2%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:16:11 ago, cause: software
2025-04-29 06:28:20 [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
2025-04-29 06:28:20 [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
2025-04-29 06:28:20 [debug] Moves scheduled 32026, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 309, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=581, frequency (Hz): min=1456, max=15306
Sync err accum 106, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 663485946 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 06:28:20 [debug] Driver 0: pos -9617, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20888, writes 0 timeouts 0
2025-04-29 06:28:20 [debug] Last sensors broadcast 0x00000000 found 0 133 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 94, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 376, adv 36017/37121
2025-04-29 06:28:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10430, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:28:20 [info] currentZPosition:0.0192
2025-04-29 06:28:21 [debug] Stopped at height 0.019 mm
2025-04-29 06:28:21 [debug] Diagnostics for board 50:
2025-04-29 06:28:21 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:28:21 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:16:12 ago, cause: software
2025-04-29 06:28:21 [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
2025-04-29 06:28:21 [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
2025-04-29 06:28:21 [debug] Moves scheduled 32030, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 306, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=725, frequency (Hz): min=1252, max=15306
Sync err accum 111, peak jitter 0/1, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 662459722 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 06:28:21 [debug] Driver 0: pos -9617, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16159, writes 0 timeouts 0
2025-04-29 06:28:21 [debug] Last sensors broadcast 0x00000000 found 0 1 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 80, 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 418, adv 36069/37073
2025-04-29 06:28:21 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10475, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:28:21 [info] currentZPosition:0.0192
2025-04-29 06:28:22 [debug] Stopped at height 0.018 mm
2025-04-29 06:28:22 [debug] Diagnostics for board 50:
2025-04-29 06:28:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:28:22 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:16:14 ago, cause: software
2025-04-29 06:28:22 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:28:22 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:28:22 [debug] Moves scheduled 32034, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 306, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=785, frequency (Hz): min=1207, max=15306
Sync err accum 111, peak jitter 0/0, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 661382570 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:28:22 [debug] Driver 0: pos -9625, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17014, writes 0 timeouts 0
2025-04-29 06:28:22 [debug] Last sensors broadcast 0x00000000 found 0 188 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 88, 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 375, adv 36016/37167
2025-04-29 06:28:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2280
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10533, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:28:22 [info] currentZPosition:0.0184
2025-04-29 06:28:24 [debug] Stopped at height 0.019 mm
2025-04-29 06:28:24 [debug] Diagnostics for board 50:
2025-04-29 06:28:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:28:24 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:16:15 ago, cause: software
2025-04-29 06:28:24 [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
2025-04-29 06:28:24 [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
2025-04-29 06:28:24 [debug] Moves scheduled 32038, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 164, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=572, frequency (Hz): min=1599, max=15306
Sync err accum 108, peak jitter -1/0, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 660364222 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:28:24 [debug] Driver 0: pos -9619, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16093, writes 0 timeouts 0
2025-04-29 06:28:24 [debug] Last sensors broadcast 0x00000000 found 0 45 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 86, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 398, adv 36096/37116
2025-04-29 06:28:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10433, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:28:24 [info] currentZPosition:0.0190
2025-04-29 06:28:25 [debug] Stopped at height 0.018 mm
2025-04-29 06:28:25 [debug] Diagnostics for board 50:
2025-04-29 06:28:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:28:25 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 17:16:16 ago, cause: software
2025-04-29 06:28:25 [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
2025-04-29 06:28:25 [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
2025-04-29 06:28:25 [debug] Moves scheduled 32042, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=462, frequency (Hz): min=1396, max=15306
Sync err accum 104, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 659285245 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max
2025-04-29 06:28:25 [debug] Driver 0: pos -9626, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17057, writes 0 timeouts 0
2025-04-29 06:28:25 [debug] Last sensors broadcast 0x00000000 found 0 233 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 89, 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 388, adv 36013/37110
2025-04-29 06:28:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2281
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10521, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:28:25 [info] currentZPosition:0.0183
2025-04-29 06:28:27 [debug] Stopped at height 0.019 mm
2025-04-29 06:28:27 [debug] Diagnostics for board 50:
2025-04-29 06:28:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:28:27 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.5%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.2%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:16:18 ago, cause: software
2025-04-29 06:28:27 [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
2025-04-29 06:28:27 [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
2025-04-29 06:28:27 [debug] Moves scheduled 32046, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=522, frequency (Hz): min=570, max=15306
Sync err accum 98, peak jitter -2/0, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 658275796 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 3
2025-04-29 06:28:27 [debug] Driver 0: pos -9618, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15952, writes 11 timeouts 1
2025-04-29 06:28:27 [debug] Last sensors broadcast 0x00000000 found 0 79 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 84, 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 474, adv 36061/37103
2025-04-29 06:28:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10464, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:28:27 [info] currentZPosition:0.0191
2025-04-29 06:28:28 [debug] Stopped at height 0.019 mm
2025-04-29 06:28:28 [debug] Diagnostics for board 50:
2025-04-29 06:28:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:28:28 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 17:16:19 ago, cause: software
2025-04-29 06:28:28 [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
2025-04-29 06:28:28 [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
2025-04-29 06:28:28 [debug] Moves scheduled 32050, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=702, frequency (Hz): min=1247, max=15306
Sync err accum 82, peak jitter -3/-2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, next step interrupt due in 657209802 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:28:28 [debug] Driver 0: pos -9621, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16877, writes 0 timeouts 0
2025-04-29 06:28:28 [debug] Last sensors broadcast 0x00000000 found 0 249 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 87, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36025/37117
2025-04-29 06:28:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10502, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2281
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:28:28 [info] currentZPosition:0.0188
2025-04-29 06:28:29 [debug] Stopped at height 0.019 mm
2025-04-29 06:28:29 [debug] Diagnostics for board 50:
2025-04-29 06:28:29 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:28:29 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:16:21 ago, cause: software
2025-04-29 06:28:29 [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
2025-04-29 06:28:29 [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
2025-04-29 06:28:29 [debug] Moves scheduled 32054, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=700, frequency (Hz): min=1229, max=15306
Sync err accum 67, peak jitter -3/-1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 656186465 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:28:29 [debug] Driver 0: pos -9621, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16209, writes 0 timeouts 0
2025-04-29 06:28:29 [debug] Last sensors broadcast 0x00000000 found 0 115 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 85, 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 388, adv 36063/37125
2025-04-29 06:28:29 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10487, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4697, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:28:29 [info] currentZPosition:0.0188
2025-04-29 06:28:31 [debug] Stopped at height 0.017 mm
2025-04-29 06:28:31 [debug] Diagnostics for board 50:
2025-04-29 06:28:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:28:31 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:16:22 ago, cause: software
2025-04-29 06:28:31 [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
2025-04-29 06:28:31 [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
2025-04-29 06:28:31 [debug] Moves scheduled 32058, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=625, frequency (Hz): min=1313, max=15306
Sync err accum 61, peak jitter -3/2, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 655094231 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:28:31 [debug] Driver 0: pos -9637, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17229, writes 0 timeouts 0
2025-04-29 06:28:31 [debug] Last sensors broadcast 0x00000000 found 0 72 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 98, 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 398, adv 35994/37099
2025-04-29 06:28:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2281
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10610, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4697, no error
Lin: Encoder reverse polarity: no, raw count 2285
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:28:31 [info] currentZPosition:0.0172
2025-04-29 06:28:31 [debug] Stopped at height 0.017 mm
2025-04-29 06:28:32 [debug] Stopped at height 0.019 mm
2025-04-29 06:28:32 [debug] Diagnostics for board 50:
2025-04-29 06:28:32 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:28:32 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 17:16:24 ago, cause: software
2025-04-29 06:28:32 [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
2025-04-29 06:28:32 [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
2025-04-29 06:28:32 [debug] Moves scheduled 32064, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 241, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=548, frequency (Hz): min=887, max=15306
Sync err accum 75, peak jitter 1/4, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 653863393 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 34
2025-04-29 06:28:32 [debug] Driver 0: pos -9618, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 19419, writes 11 timeouts 1
2025-04-29 06:28:32 [debug] Last sensors broadcast 0x00000000 found 0 212 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 91, 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 439, adv 36115/37172
2025-04-29 06:28:32 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10471, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2279
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:28:33 [info] currentZPosition:0.0192
2025-04-29 06:28:33 [debug] Stopped at height 0.018 mm
2025-04-29 06:28:34 [debug] Stopped at height 0.020 mm
2025-04-29 06:28:34 [debug] Diagnostics for board 50:
2025-04-29 06:28:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:28:34 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.7%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:16:25 ago, cause: software
2025-04-29 06:28:34 [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
2025-04-29 06:28:34 [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
2025-04-29 06:28:34 [debug] Moves scheduled 32070, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=498, frequency (Hz): min=1565, max=15306
Sync err accum 84, peak jitter 0/2, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 652575760 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 3
2025-04-29 06:28:34 [debug] Driver 0: pos -9614, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20512, writes 0 timeouts 0
2025-04-29 06:28:34 [debug] Last sensors broadcast 0x00000000 found 0 179 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 99, send timeouts 0, received 29, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 387, adv 36032/37129
2025-04-29 06:28:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10424, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4696, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:28:34 [info] currentZPosition:0.0196
2025-04-29 06:28:35 [debug] Stopped at height 0.017 mm
2025-04-29 06:28:36 [debug] Stopped at height 0.017 mm
2025-04-29 06:28:36 [debug] Diagnostics for board 50:
2025-04-29 06:28:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:28:36 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.2%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:16:27 ago, cause: software
2025-04-29 06:28:36 [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
2025-04-29 06:28:36 [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
2025-04-29 06:28:36 [debug] Moves scheduled 32076, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=522, frequency (Hz): min=1401, max=15306
Sync err accum 87, peak jitter 0/1, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 651272525 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 3
2025-04-29 06:28:36 [debug] Driver 0: pos -9637, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20583, writes 0 timeouts 0
2025-04-29 06:28:36 [debug] Last sensors broadcast 0x00000000 found 0 168 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 118, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 380, adv 36073/37118
2025-04-29 06:28:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2280
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10566, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2282
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:28:36 [info] currentZPosition:0.0173
2025-04-29 06:28:37 [debug] Stopped at height 0.020 mm
2025-04-29 06:28:37 [debug] Diagnostics for board 50:
2025-04-29 06:28:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:28:37 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.7%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:16:28 ago, cause: software
2025-04-29 06:28:37 [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
2025-04-29 06:28:37 [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
2025-04-29 06:28:37 [debug] Moves scheduled 32080, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=670, frequency (Hz): min=1341, max=15306
Sync err accum 90, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 650267939 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 3
2025-04-29 06:28:37 [debug] Driver 0: pos -9606, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15857, writes 0 timeouts 0
2025-04-29 06:28:37 [debug] Last sensors broadcast 0x00000000 found 0 6 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 80, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36018/37141
2025-04-29 06:28:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10441, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:28:37 [info] currentZPosition:0.0204
2025-04-29 06:28:38 [debug] Stopped at height 0.019 mm
2025-04-29 06:28:39 [debug] Stopped at height 0.019 mm
2025-04-29 06:28:39 [debug] Diagnostics for board 50:
2025-04-29 06:28:39 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:28:39 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.1%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:16:30 ago, cause: software
2025-04-29 06:28:39 [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
2025-04-29 06:28:39 [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
2025-04-29 06:28:39 [debug] Moves scheduled 32086, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 240, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=476, frequency (Hz): min=1282, max=15306
Sync err accum 88, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 648980435 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 06:28:39 [debug] Driver 0: pos -9615, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20622, writes 0 timeouts 0
2025-04-29 06:28:39 [debug] Last sensors broadcast 0x00000000 found 0 223 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 91, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 399, adv 36092/37077
2025-04-29 06:28:39 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10471, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2274
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:28:39 [info] currentZPosition:0.0195
2025-04-29 06:28:40 [debug] Stopped at height 0.019 mm
2025-04-29 06:28:40 [debug] Diagnostics for board 50:
2025-04-29 06:28:40 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:28:40 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:16:32 ago, cause: software
2025-04-29 06:28:40 [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
2025-04-29 06:28:40 [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
2025-04-29 06:28:40 [debug] Moves scheduled 32090, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=548, frequency (Hz): min=1644, max=15306
Sync err accum 77, peak jitter -2/0, peak Rx delay 175, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 647919221 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 06:28:40 [debug] Driver 0: pos -9616, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16867, writes 0 timeouts 0
2025-04-29 06:28:40 [debug] Last sensors broadcast 0x00000000 found 0 139 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 81, send timeouts 0, received 22, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 382, adv 36039/37151
2025-04-29 06:28:40 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2274
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10451, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:28:40 [info] currentZPosition:0.0194
2025-04-29 06:28:42 [debug] Stopped at height 0.019 mm
2025-04-29 06:28:42 [debug] Diagnostics for board 50:
2025-04-29 06:28:42 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:28:42 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:16:33 ago, cause: software
2025-04-29 06:28:42 [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
2025-04-29 06:28:42 [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
2025-04-29 06:28:42 [debug] Moves scheduled 32094, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=564, frequency (Hz): min=1401, max=15306
Sync err accum 64, peak jitter -3/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, CC0 mismatch!!, next step interrupt due in 646885936 ticks, 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
2025-04-29 06:28:42 [debug] Driver 0: pos -9619, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16414, writes 0 timeouts 0
2025-04-29 06:28:42 [debug] Last sensors broadcast 0x00000000 found 0 17 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 88, 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 402, adv 36113/37109
2025-04-29 06:28:42 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10439, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2279
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:28:42 [info] currentZPosition:0.0191
2025-04-29 06:28:43 [debug] Stopped at height 0.019 mm
2025-04-29 06:28:43 [debug] Diagnostics for board 50:
2025-04-29 06:28:43 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:28:43 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:16:34 ago, cause: software
2025-04-29 06:28:43 [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
2025-04-29 06:28:43 [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
2025-04-29 06:28:43 [debug] Moves scheduled 32098, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=497, frequency (Hz): min=1582, max=15306
Sync err accum 68, peak jitter -2/3, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 645826750 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:28:43 [debug] Driver 0: pos -9619, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16784, writes 0 timeouts 0
2025-04-29 06:28:43 [debug] Last sensors broadcast 0x00000000 found 0 177 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 78, 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 356, adv 36059/37131
2025-04-29 06:28:43 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2282
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10446, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:28:43 [info] currentZPosition:0.0191
2025-04-29 06:28:44 [debug] Stopped at height 0.019 mm
2025-04-29 06:28:44 [debug] Diagnostics for board 50:
2025-04-29 06:28:44 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:28:44 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.8%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:16:36 ago, cause: software
2025-04-29 06:28:44 [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
2025-04-29 06:28:44 [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
2025-04-29 06:28:44 [debug] Moves scheduled 32102, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=449, frequency (Hz): min=1785, max=15306
Sync err accum 84, peak jitter 2/3, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 644803448 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 3
2025-04-29 06:28:44 [debug] Driver 0: pos -9617, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16297, writes 0 timeouts 0
2025-04-29 06:28:44 [debug] Last sensors broadcast 0x00000000 found 0 45 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 82, 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 373, adv 36125/37096
2025-04-29 06:28:44 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10468, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:28:45 [info] currentZPosition:0.0193
2025-04-29 06:28:46 [debug] Stopped at height 0.020 mm
2025-04-29 06:28:46 [debug] Diagnostics for board 50:
2025-04-29 06:28:46 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:28:46 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:16:37 ago, cause: software
2025-04-29 06:28:46 [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
2025-04-29 06:28:46 [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
2025-04-29 06:28:46 [debug] Moves scheduled 32106, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=665, frequency (Hz): min=1311, max=15306
Sync err accum 93, peak jitter 1/2, peak Rx delay 182, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 643749821 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 3
2025-04-29 06:28:46 [debug] Driver 0: pos -9612, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16763, writes 0 timeouts 0
2025-04-29 06:28:46 [debug] Last sensors broadcast 0x00000000 found 0 198 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 79, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 371, adv 36033/37110
2025-04-29 06:28:46 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10433, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:28:46 [info] currentZPosition:0.0198
2025-04-29 06:28:47 [debug] Stopped at height 0.019 mm
2025-04-29 06:28:47 [debug] Diagnostics for board 50:
2025-04-29 06:28:47 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:28:47 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.1%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:16:39 ago, cause: software
2025-04-29 06:28:47 [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
2025-04-29 06:28:47 [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
2025-04-29 06:28:47 [debug] Moves scheduled 32110, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=509, frequency (Hz): min=1626, max=15306
Sync err accum 100, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 642706331 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:28:47 [debug] Driver 0: pos -9623, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16627, writes 0 timeouts 0
2025-04-29 06:28:47 [debug] Last sensors broadcast 0x00000000 found 0 89 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 84, 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 374, adv 36073/37135
2025-04-29 06:28:47 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10471, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2279
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:28:47 [info] currentZPosition:0.0187
2025-04-29 06:28:49 [debug] Stopped at height 0.019 mm
2025-04-29 06:28:49 [debug] Diagnostics for board 50:
2025-04-29 06:28:49 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:28:49 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 17:16:40 ago, cause: software
2025-04-29 06:28:49 [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
2025-04-29 06:28:49 [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
2025-04-29 06:28:49 [debug] Moves scheduled 32114, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 353, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=544, frequency (Hz): min=1459, max=15306
Sync err accum 104, peak jitter 0/1, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 641656237 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 
2025-04-29 06:28:49 [debug] Driver 0: pos -9617, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16709, writes 0 timeouts 0
2025-04-29 06:28:49 [debug] Last sensors broadcast 0x00000000 found 0 244 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 84, 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 383, adv 36035/37104
2025-04-29 06:28:49 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10459, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2279
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:28:49 [info] currentZPosition:0.0193
2025-04-29 06:28:50 [debug] Stopped at height 0.020 mm
2025-04-29 06:28:50 [debug] Diagnostics for board 50:
2025-04-29 06:28:50 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:28:50 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:16:41 ago, cause: software
2025-04-29 06:28:50 [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
2025-04-29 06:28:50 [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
2025-04-29 06:28:50 [debug] Moves scheduled 32118, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=628, frequency (Hz): min=1459, max=15625
Sync err accum 104, peak jitter -1/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 640635249 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:28:50 [debug] Driver 0: pos -9612, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16123, writes 0 timeouts 0
2025-04-29 06:28:50 [debug] Last sensors broadcast 0x00000000 found 0 100 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 79, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36084/37146
2025-04-29 06:28:50 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10466, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:28:50 [info] currentZPosition:0.0198
2025-04-29 06:28:51 [debug] Stopped at height 0.019 mm
2025-04-29 06:28:51 [debug] Diagnostics for board 50:
2025-04-29 06:28:51 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:28:51 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.0%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:16:43 ago, cause: software
2025-04-29 06:28:51 [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
2025-04-29 06:28:51 [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
2025-04-29 06:28:51 [debug] Moves scheduled 32122, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 363, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=442, frequency (Hz): min=1575, max=15306
Sync err accum 102, peak jitter -1/0, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 639558865 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:28:51 [debug] Driver 0: pos -9622, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17155, writes 0 timeouts 0
2025-04-29 06:28:51 [debug] Last sensors broadcast 0x00000000 found 0 33 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 87, 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 369, adv 36023/37148
2025-04-29 06:28:51 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10464, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4696, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:28:52 [info] currentZPosition:0.0188
2025-04-29 06:28:53 [debug] Stopped at height 0.019 mm
2025-04-29 06:28:53 [debug] Diagnostics for board 50:
2025-04-29 06:28:53 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:28:53 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:16:44 ago, cause: software
2025-04-29 06:28:53 [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
2025-04-29 06:28:53 [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
2025-04-29 06:28:53 [debug] Moves scheduled 32126, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=584, frequency (Hz): min=1494, max=15306
Sync err accum 95, peak jitter -2/-1, peak Rx delay 183, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, next step interrupt due in 638545335 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:28:53 [debug] Driver 0: pos -9619, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16131, writes 0 timeouts 0
2025-04-29 06:28:53 [debug] Last sensors broadcast 0x00000000 found 0 138 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 88, 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 385, adv 36074/37111
2025-04-29 06:28:53 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10479, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:28:53 [info] currentZPosition:0.0191
2025-04-29 06:28:54 [debug] Stopped at height 0.019 mm
2025-04-29 06:28:54 [debug] Diagnostics for board 50:
2025-04-29 06:28:54 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:28:54 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.9%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:16:46 ago, cause: software
2025-04-29 06:28:54 [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
2025-04-29 06:28:54 [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
2025-04-29 06:28:54 [debug] Moves scheduled 32130, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=580, frequency (Hz): min=1494, max=15306
Sync err accum 82, peak jitter -3/-1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 637482579 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max
2025-04-29 06:28:54 [debug] Driver 0: pos -9621, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16854, writes 0 timeouts 0
2025-04-29 06:28:54 [debug] Last sensors broadcast 0x00000000 found 0 52 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 84, 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 381, adv 36096/37125
2025-04-29 06:28:54 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10500, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2275
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:28:54 [info] currentZPosition:0.0189
2025-04-29 06:28:56 [debug] Stopped at height 0.020 mm
2025-04-29 06:28:56 [debug] Diagnostics for board 50:
2025-04-29 06:28:56 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:28:56 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 17:16:47 ago, cause: software
2025-04-29 06:28:56 [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
2025-04-29 06:28:56 [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
2025-04-29 06:28:56 [debug] Moves scheduled 32134, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 260, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=530, frequency (Hz): min=1626, max=15306
Sync err accum 71, peak jitter -2/-1, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 636473360 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:28:56 [debug] Driver 0: pos -9614, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 15983, writes 0 timeouts 0
2025-04-29 06:28:56 [debug] Last sensors broadcast 0x00000000 found 0 149 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 80, 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 743, adv 36064/37077
2025-04-29 06:28:56 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10456, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2270
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:28:56 [info] currentZPosition:0.0196
2025-04-29 06:28:57 [debug] Stopped at height 0.019 mm
2025-04-29 06:28:57 [debug] Diagnostics for board 50:
2025-04-29 06:28:57 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:28:57 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.9%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.9%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:16:48 ago, cause: software
2025-04-29 06:28:57 [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
2025-04-29 06:28:57 [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
2025-04-29 06:28:57 [debug] Moves scheduled 32138, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=558, frequency (Hz): min=1473, max=15306
Sync err accum 58, peak jitter -3/0, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 635412597 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:28:57 [debug] Driver 0: pos -9616, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16927, writes 0 timeouts 0
2025-04-29 06:28:57 [debug] Last sensors broadcast 0x00000000 found 0 67 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 81, send timeouts 0, received 22, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 384, adv 36007/37105
2025-04-29 06:28:57 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10436, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:28:57 [info] currentZPosition:0.0194
2025-04-29 06:28:58 [debug] Stopped at height 0.019 mm
2025-04-29 06:28:58 [debug] Diagnostics for board 50:
2025-04-29 06:28:58 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:28:58 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:16:50 ago, cause: software
2025-04-29 06:28:58 [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
2025-04-29 06:28:58 [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
2025-04-29 06:28:58 [warn] Warning: Discarded std reply src=50 RID=428 exp=428 "VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: m"
2025-04-29 06:28:58 [warn] Warning: Discarded std reply src=50 RID=428 exp=428 "in 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, "
2025-04-29 06:28:58 [warn] Warning: Discarded std reply src=50 RID=428 exp=428 "current 33.8C, max 3"
2025-04-29 06:28:58 [debug] Moves scheduled 32142, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=488, frequency (Hz): min=1521, max=15306
Sync err accum 72, peak jitter 1/3, peak Rx delay 183, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 634384396 ticks, disabled
CAN response timeout: board 50, req type 6024, RID 428
2025-04-29 06:28:59 [info] currentZPosition:0.0192
2025-04-29 06:29:01 [debug] Stopped at height 0.017 mm
2025-04-29 06:29:01 [debug] Diagnostics for board 50:
2025-04-29 06:29:01 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:29:01 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,3.6%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.3%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:16:52 ago, cause: software
2025-04-29 06:29:01 [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
2025-04-29 06:29:01 [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
2025-04-29 06:29:01 [debug] Moves scheduled 32146, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=37, max=622, frequency (Hz): min=1353, max=15306
Sync err accum 99, peak jitter 1/3, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 8 ticks, enabled, next step interrupt due in 632562937 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:29:01 [debug] Driver 0: pos -9639, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 45607, writes 0 timeouts 0
2025-04-29 06:29:01 [debug] Last sensors broadcast 0x00000000 found 0 115 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 217, send timeouts 0, received 45, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 383, adv 36046/37107
2025-04-29 06:29:01 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2282
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10626, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2279
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:29:01 [info] currentZPosition:0.0171
2025-04-29 06:29:01 [debug] Stopped at height 0.016 mm
2025-04-29 06:29:02 [debug] Stopped at height 0.017 mm
2025-04-29 06:29:02 [debug] Diagnostics for board 50:
2025-04-29 06:29:02 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:29:02 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.2%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.9%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:16:54 ago, cause: software
2025-04-29 06:29:02 [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
2025-04-29 06:29:02 [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
2025-04-29 06:29:02 [debug] Moves scheduled 32152, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=724, frequency (Hz): min=1080, max=15625
Sync err accum 109, peak jitter 1/2, peak Rx delay 210, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 631287297 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 06:29:02 [debug] Driver 0: pos -9640, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20011, writes 0 timeouts 0
2025-04-29 06:29:02 [debug] Last sensors broadcast 0x00000000 found 0 64 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 117, 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 376, adv 36076/37137
2025-04-29 06:29:02 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2282
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10630, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:29:03 [info] currentZPosition:0.0170
2025-04-29 06:29:04 [warn] Error: G30: Probe already triggered at start of probing move
2025-04-29 06:29:04 [debug] Diagnostics for board 50:
2025-04-29 06:29:04 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:29:04 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,69.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,6.7%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:16:55 ago, cause: software
2025-04-29 06:29:04 [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
2025-04-29 06:29:04 [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
2025-04-29 06:29:04 [debug] Moves scheduled 32155, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=482, frequency (Hz): min=1585, max=15306
Sync err accum 113, peak jitter 0/2, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 630421968 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:29:04 [debug] Driver 0: pos -9559, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 13518, writes 0 timeouts 0
2025-04-29 06:29:04 [debug] Last sensors broadcast 0x00000000 found 0 216 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 72, send timeouts 0, received 17, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 356, adv 36047/37103
2025-04-29 06:29:04 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2260
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10130, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2263
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:29:04 [info] currentZPosition:0.0250
2025-04-29 06:29:04 [debug] Stopped at height 0.019 mm
2025-04-29 06:29:05 [debug] Stopped at height 0.019 mm
2025-04-29 06:29:06 [debug] Stopped at height 0.019 mm
2025-04-29 06:29:06 [debug] Diagnostics for board 50:
2025-04-29 06:29:06 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:29:06 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,3.3%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:16:57 ago, cause: software
2025-04-29 06:29:06 [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
2025-04-29 06:29:06 [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
2025-04-29 06:29:06 [debug] Moves scheduled 32163, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=532, frequency (Hz): min=744, max=15625
Sync err accum 117, peak jitter -1/1, peak Rx delay 177, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 628807881 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:29:06 [debug] Driver 0: pos -9620, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 26053, writes 11 timeouts 1
2025-04-29 06:29:06 [debug] Last sensors broadcast 0x00000000 found 0 118 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 111, send timeouts 0, received 35, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 386, adv 36215/37149
2025-04-29 06:29:06 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10507, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:29:06 [info] currentZPosition:0.0190
2025-04-29 06:29:07 [debug] Stopped at height 0.018 mm
2025-04-29 06:29:07 [debug] Diagnostics for board 50:
2025-04-29 06:29:07 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:29:07 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 17:16:59 ago, cause: software
2025-04-29 06:29:07 [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
2025-04-29 06:29:07 [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
2025-04-29 06:29:07 [debug] Moves scheduled 32167, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 302, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=490, frequency (Hz): min=853, max=15306
Sync err accum 112, peak jitter -1/0, peak Rx delay 188, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 627733997 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:29:07 [debug] Driver 0: pos -9627, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16957, writes 11 timeouts 1
2025-04-29 06:29:07 [debug] Last sensors broadcast 0x00000000 found 0 55 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 84, 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 370, adv 36028/37153
2025-04-29 06:29:07 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2279
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10534, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:29:07 [info] currentZPosition:0.0184
2025-04-29 06:29:09 [debug] Stopped at height 0.019 mm
2025-04-29 06:29:09 [debug] Diagnostics for board 50:
2025-04-29 06:29:09 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:29:09 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:17:00 ago, cause: software
2025-04-29 06:29:09 [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
2025-04-29 06:29:09 [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
2025-04-29 06:29:09 [debug] Moves scheduled 32171, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=662, frequency (Hz): min=1223, max=15625
Sync err accum 105, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 626701919 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:29:09 [debug] Driver 0: pos -9625, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16223, writes 0 timeouts 0
2025-04-29 06:29:09 [debug] Last sensors broadcast 0x00000000 found 0 176 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 89, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 377, adv 36376/37113
2025-04-29 06:29:09 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10506, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4702, no error
Lin: Encoder reverse polarity: no, raw count 2281
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:29:09 [info] currentZPosition:0.0186
2025-04-29 06:29:10 [debug] Stopped at height 0.019 mm
2025-04-29 06:29:10 [debug] Diagnostics for board 50:
2025-04-29 06:29:10 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:29:10 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:17:01 ago, cause: software
2025-04-29 06:29:10 [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
2025-04-29 06:29:10 [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
2025-04-29 06:29:10 [debug] Moves scheduled 32175, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 233, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=700, frequency (Hz): min=1336, max=15306
Sync err accum 93, peak jitter -3/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 1 ticks, enabled, next step interrupt due in 625641200 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:29:10 [debug] Driver 0: pos -9624, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16697, writes 0 timeouts 0
2025-04-29 06:29:10 [debug] Last sensors broadcast 0x00000000 found 0 90 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 86, 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 378, adv 36068/37122
2025-04-29 06:29:10 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10500, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:29:10 [info] currentZPosition:0.0187
2025-04-29 06:29:11 [debug] Stopped at height 0.019 mm
2025-04-29 06:29:11 [debug] Diagnostics for board 50:
2025-04-29 06:29:11 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:29:11 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.2%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:17:03 ago, cause: software
2025-04-29 06:29:11 [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
2025-04-29 06:29:11 [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
2025-04-29 06:29:11 [debug] Moves scheduled 32179, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 258, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=681, frequency (Hz): min=1219, max=19736
Sync err accum 79, peak jitter -3/-1, peak Rx delay 180, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 624625920 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cu
2025-04-29 06:29:11 [debug] Driver 0: pos -9618, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16107, writes 0 timeouts 0
2025-04-29 06:29:11 [debug] Last sensors broadcast 0x00000000 found 0 199 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 81, 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 385, adv 36368/37116
2025-04-29 06:29:11 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10443, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:29:11 [info] currentZPosition:0.0193
2025-04-29 06:29:13 [debug] Stopped at height 0.018 mm
2025-04-29 06:29:13 [debug] Diagnostics for board 50:
2025-04-29 06:29:13 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:29:13 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.0%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:17:04 ago, cause: software
2025-04-29 06:29:13 [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
2025-04-29 06:29:13 [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
2025-04-29 06:29:13 [debug] Moves scheduled 32183, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 234, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=662, frequency (Hz): min=1262, max=15306
Sync err accum 61, peak jitter -3/-2, peak Rx delay 175, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 623538752 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max
2025-04-29 06:29:13 [debug] Driver 0: pos -9629, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17178, writes 0 timeouts 0
2025-04-29 06:29:13 [debug] Last sensors broadcast 0x00000000 found 0 144 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 96, 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 377, adv 36035/37105
2025-04-29 06:29:13 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2281
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10585, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:29:13 [info] currentZPosition:0.0182
2025-04-29 06:29:14 [debug] Stopped at height 0.018 mm
2025-04-29 06:29:14 [debug] Diagnostics for board 50:
2025-04-29 06:29:14 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:29:14 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,0.0%,313) HEAT(2,nWait 6,0.0%,105) CanAsync(5,nWait 4,0.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,100.0%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,0.0%,255), total 100.0%
Owned mutexes:
Last reset 17:17:05 ago, cause: software
2025-04-29 06:29:14 [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
2025-04-29 06:29:14 [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
2025-04-29 06:29:14 [debug] Moves scheduled 32187, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 400, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=488, frequency (Hz): min=621, max=15306
Sync err accum 67, peak jitter -1/2, peak Rx delay 182, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, CC0 mismatch!!, next step interrupt due in 622515118 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature:
2025-04-29 06:29:14 [debug] Driver 0: pos -9627, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16135, writes 11 timeouts 1
2025-04-29 06:29:14 [debug] Last sensors broadcast 0x00000000 found 0 8 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 88, 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 397, adv 36287/37103
2025-04-29 06:29:14 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2275
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10534, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4696, no error
Lin: Encoder reverse polarity: no, raw count 2282
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:29:14 [info] currentZPosition:0.0184
2025-04-29 06:29:16 [debug] Stopped at height 0.017 mm
2025-04-29 06:29:16 [debug] Diagnostics for board 50:
2025-04-29 06:29:16 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:29:16 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:17:07 ago, cause: software
2025-04-29 06:29:16 [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
2025-04-29 06:29:16 [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
2025-04-29 06:29:16 [debug] Moves scheduled 32191, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=606, frequency (Hz): min=1269, max=15306
Sync err accum 74, peak jitter 0/2, peak Rx delay 195, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 621412800 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 33.8C, max 3
2025-04-29 06:29:16 [debug] Driver 0: pos -9645, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17299, writes 0 timeouts 0
2025-04-29 06:29:16 [debug] Last sensors broadcast 0x00000000 found 0 232 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 110, 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 477, adv 36034/37093
2025-04-29 06:29:16 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2284
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10626, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4696, no error
Lin: Encoder reverse polarity: no, raw count 2284
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:29:16 [info] currentZPosition:0.0166
2025-04-29 06:29:16 [debug] Stopped at height 0.017 mm
2025-04-29 06:29:17 [debug] Stopped at height 0.020 mm
2025-04-29 06:29:17 [debug] Diagnostics for board 50:
2025-04-29 06:29:17 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:29:17 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.7%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.4%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:17:09 ago, cause: software
2025-04-29 06:29:17 [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
2025-04-29 06:29:17 [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
2025-04-29 06:29:17 [debug] Moves scheduled 32197, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 668, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=633, frequency (Hz): min=1225, max=15306
Sync err accum 81, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 620202760 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 3
2025-04-29 06:29:17 [debug] Driver 0: pos -9615, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 19065, writes 0 timeouts 0
2025-04-29 06:29:17 [debug] Last sensors broadcast 0x00000000 found 0 94 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 92, 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 388, adv 36360/37133
2025-04-29 06:29:17 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10464, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2273
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:29:17 [info] currentZPosition:0.0196
2025-04-29 06:29:18 [debug] Stopped at height 0.018 mm
2025-04-29 06:29:19 [debug] Stopped at height 0.019 mm
2025-04-29 06:29:19 [debug] Diagnostics for board 50:
2025-04-29 06:29:19 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:29:19 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.8%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.8%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:17:10 ago, cause: software
2025-04-29 06:29:19 [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
2025-04-29 06:29:19 [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
2025-04-29 06:29:19 [debug] Moves scheduled 32203, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 360, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=716, frequency (Hz): min=1247, max=15306
Sync err accum 81, peak jitter -1/1, peak Rx delay 180, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 618890092 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:29:19 [debug] Driver 0: pos -9617, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20885, writes 0 timeouts 0
2025-04-29 06:29:19 [debug] Last sensors broadcast 0x00000000 found 0 93 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 96, 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 498, adv 35914/37125
2025-04-29 06:29:19 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2272
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10439, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4704, no error
Lin: Encoder reverse polarity: no, raw count 2277
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:29:19 [info] currentZPosition:0.0194
2025-04-29 06:29:20 [debug] Stopped at height 0.018 mm
2025-04-29 06:29:20 [debug] Diagnostics for board 50:
2025-04-29 06:29:20 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:29:20 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.8%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.1%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:17:12 ago, cause: software
2025-04-29 06:29:20 [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
2025-04-29 06:29:20 [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
2025-04-29 06:29:20 [debug] Moves scheduled 32207, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 356, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=592, frequency (Hz): min=1383, max=15306
Sync err accum 77, peak jitter -2/0, peak Rx delay 176, resyncs 0/0, next timer interrupt due in 9 ticks, enabled, CC0 mismatch!!, next step interrupt due in 617830799 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 06:29:20 [debug] Driver 0: pos -9632, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16721, writes 0 timeouts 0
2025-04-29 06:29:20 [debug] Last sensors broadcast 0x00000000 found 0 7 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 91, 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 367, adv 36337/37123
2025-04-29 06:29:20 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2281
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10565, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2280
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:29:21 [info] currentZPosition:0.0179
2025-04-29 06:29:21 [debug] Stopped at height 0.017 mm
2025-04-29 06:29:22 [debug] Stopped at height 0.020 mm
2025-04-29 06:29:22 [debug] Diagnostics for board 50:
2025-04-29 06:29:22 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:29:22 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.1%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:17:13 ago, cause: software
2025-04-29 06:29:22 [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
2025-04-29 06:29:22 [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
2025-04-29 06:29:22 [debug] Moves scheduled 32213, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 314, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=504, frequency (Hz): min=1720, max=15306
Sync err accum 72, peak jitter -2/1, peak Rx delay 177, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 616563514 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:29:22 [debug] Driver 0: pos -9614, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20121, writes 0 timeouts 0
2025-04-29 06:29:22 [debug] Last sensors broadcast 0x00000000 found 0 197 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 90, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 381, adv 36034/37147
2025-04-29 06:29:22 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10413, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4700, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:29:22 [info] currentZPosition:0.0197
2025-04-29 06:29:23 [debug] Stopped at height 0.018 mm
2025-04-29 06:29:24 [debug] Stopped at height 0.018 mm
2025-04-29 06:29:24 [debug] Diagnostics for board 50:
2025-04-29 06:29:24 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:29:24 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.0%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:17:15 ago, cause: software
2025-04-29 06:29:24 [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
2025-04-29 06:29:24 [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
2025-04-29 06:29:24 [debug] Moves scheduled 32219, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=544, frequency (Hz): min=1575, max=15306
Sync err accum 61, peak jitter -2/0, peak Rx delay 187, resyncs 0/0, next timer interrupt due in 4 ticks, enabled, next step interrupt due in 615274381 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, cur
2025-04-29 06:29:24 [debug] Driver 0: pos -9627, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20398, writes 0 timeouts 0
2025-04-29 06:29:24 [debug] Last sensors broadcast 0x00000000 found 0 163 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 102, 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 378, adv 36335/37120
2025-04-29 06:29:24 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2279
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10514, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4699, no error
Lin: Encoder reverse polarity: no, raw count 2279
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:29:24 [info] currentZPosition:0.0184
2025-04-29 06:29:25 [debug] Stopped at height 0.019 mm
2025-04-29 06:29:25 [debug] Diagnostics for board 50:
2025-04-29 06:29:25 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:29:25 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:17:17 ago, cause: software
2025-04-29 06:29:25 [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
2025-04-29 06:29:25 [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
2025-04-29 06:29:25 [debug] Moves scheduled 32223, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 308, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=626, frequency (Hz): min=1318, max=15306
Sync err accum 72, peak jitter 1/2, peak Rx delay 179, resyncs 0/0, next timer interrupt due in 6 ticks, enabled, next step interrupt due in 614224409 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, curr
2025-04-29 06:29:25 [debug] Driver 0: pos -9620, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16650, writes 0 timeouts 0
2025-04-29 06:29:25 [debug] Last sensors broadcast 0x00000000 found 0 66 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 83, 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 379, adv 36102/37144
2025-04-29 06:29:25 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2273
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10494, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4703, no error
Lin: Encoder reverse polarity: no, raw count 2280
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:29:25 [info] currentZPosition:0.0191
2025-04-29 06:29:27 [debug] Stopped at height 0.020 mm
2025-04-29 06:29:27 [debug] Diagnostics for board 50:
2025-04-29 06:29:27 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:29:27 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:17:18 ago, cause: software
2025-04-29 06:29:27 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:29:27 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:29:27 [debug] Moves scheduled 32227, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 256, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=588, frequency (Hz): min=1295, max=15625
Sync err accum 76, peak jitter 0/1, peak Rx delay 174, resyncs 0/0, next timer interrupt due in 2 ticks, enabled, next step interrupt due in 613206754 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, curr
2025-04-29 06:29:27 [debug] Driver 0: pos -9615, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16047, writes 0 timeouts 0
2025-04-29 06:29:27 [debug] Last sensors broadcast 0x00000000 found 0 170 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 80, send timeouts 0, received 21, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 378, adv 36351/37117
2025-04-29 06:29:27 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10463, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4697, no error
Lin: Encoder reverse polarity: no, raw count 2272
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:29:27 [info] currentZPosition:0.0196
2025-04-29 06:29:28 [debug] Stopped at height 0.017 mm
2025-04-29 06:29:28 [debug] Diagnostics for board 50:
2025-04-29 06:29:28 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:29:28 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.6%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.3%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:17:19 ago, cause: software
2025-04-29 06:29:28 [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
2025-04-29 06:29:28 [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
2025-04-29 06:29:28 [debug] Moves scheduled 32231, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 284, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=650, frequency (Hz): min=1376, max=15306
Sync err accum 80, peak jitter 0/1, peak Rx delay 172, resyncs 0/0, next timer interrupt due in 7 ticks, enabled, next step interrupt due in 612097246 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, curr
2025-04-29 06:29:28 [debug] Driver 0: pos -9639, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17489, writes 0 timeouts 0
2025-04-29 06:29:28 [debug] Last sensors broadcast 0x00000000 found 0 151 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 100, 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 368, adv 36067/37156
2025-04-29 06:29:28 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2280
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10610, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4696, no error
Lin: Encoder reverse polarity: no, raw count 2284
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:29:28 [info] currentZPosition:0.0172
2025-04-29 06:29:29 [debug] Stopped at height 0.017 mm
2025-04-29 06:29:30 [debug] Stopped at height 0.019 mm
2025-04-29 06:29:30 [debug] Diagnostics for board 50:
2025-04-29 06:29:30 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:29:30 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.2%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:17:21 ago, cause: software
2025-04-29 06:29:30 [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
2025-04-29 06:29:30 [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
2025-04-29 06:29:30 [debug] Moves scheduled 32237, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 327, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=666, frequency (Hz): min=1383, max=15306
Sync err accum 81, peak jitter -1/1, peak Rx delay 172, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 610879957 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:29:30 [debug] Driver 0: pos -9616, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 19349, writes 0 timeouts 0
2025-04-29 06:29:30 [debug] Last sensors broadcast 0x00000000 found 0 27 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 92, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 402, adv 36283/37123
2025-04-29 06:29:30 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2277
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10434, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2276
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:29:30 [info] currentZPosition:0.0195
2025-04-29 06:29:30 [debug] Stopped at height 0.018 mm
2025-04-29 06:29:31 [debug] Stopped at height 0.018 mm
2025-04-29 06:29:31 [debug] Diagnostics for board 50:
2025-04-29 06:29:31 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:29:31 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.7%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.0%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.7%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.9%
Owned mutexes:
Last reset 17:17:23 ago, cause: software
2025-04-29 06:29:31 [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
2025-04-29 06:29:31 [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
2025-04-29 06:29:31 [debug] Moves scheduled 32243, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=8, max=680, frequency (Hz): min=1302, max=19230
Sync err accum 80, peak jitter -1/1, peak Rx delay 194, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 609564251 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:29:31 [debug] Driver 0: pos -9627, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20812, writes 0 timeouts 0
2025-04-29 06:29:31 [debug] Last sensors broadcast 0x00000000 found 0 28 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 105, send timeouts 0, received 28, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 388, adv 36089/37113
2025-04-29 06:29:31 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2276
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10502, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2281
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:29:32 [info] currentZPosition:0.0184
2025-04-29 06:29:33 [debug] Stopped at height 0.018 mm
2025-04-29 06:29:33 [debug] Diagnostics for board 50:
2025-04-29 06:29:33 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:29:33 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.8%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.5%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:17:24 ago, cause: software
2025-04-29 06:29:33 [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
2025-04-29 06:29:33 [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
2025-04-29 06:29:33 [debug] Moves scheduled 32247, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 232, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=724, frequency (Hz): min=1264, max=15306
Sync err accum 72, peak jitter -2/0, peak Rx delay 186, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 608534703 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:29:33 [debug] Driver 0: pos -9627, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16170, writes 0 timeouts 0
2025-04-29 06:29:33 [debug] Last sensors broadcast 0x00000000 found 0 150 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 85, 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 371, adv 36340/37112
2025-04-29 06:29:33 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2280
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10499, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4698, no error
Lin: Encoder reverse polarity: no, raw count 2278
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:29:33 [info] currentZPosition:0.0184
2025-04-29 06:29:34 [debug] Stopped at height 0.020 mm
2025-04-29 06:29:34 [debug] Diagnostics for board 50:
2025-04-29 06:29:34 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:29:34 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.4%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.4%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.0%
Owned mutexes:
Last reset 17:17:26 ago, cause: software
2025-04-29 06:29:34 [debug] Last software reset time unknown, reason: HardFault zeroDiv, available RAM 51444, slot 2
Software reset code 0x0060 HFSR 0x40000000 CFSR 0x02000000 ICSR 0x00000803 BFAR 0xe000ed38 SP 0x20002cc0 Task TMC Freestk 366 ok
2025-04-29 06:29:34 [debug] Stack: 00000000 20002d2f 00000000 00000000 00000000 00026359 00026368 41000000 0018a715 00024de3 20019948 20019948 00000001 00025d53 00025d3d 2001a874 001ceac9 00027c73 01601008 a0180030 08004d84 41c31e52 05c80021 3a341809 002ad181 2001a7c0 001ceac9
2025-04-29 06:29:34 [debug] Moves scheduled 32251, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 237, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=636, frequency (Hz): min=1315, max=15306
Sync err accum 65, peak jitter -2/0, peak Rx delay 181, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 607504140 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 
2025-04-29 06:29:34 [debug] Driver 0: pos -9612, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 16326, writes 0 timeouts 0
2025-04-29 06:29:34 [debug] Last sensors broadcast 0x00000000 found 0 24 ticks ago, 0 ordering errs, loop time 1
CAN messages queued 81, 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 432, adv 36055/37070
2025-04-29 06:29:34 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10455, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4701, no error
Lin: Encoder reverse polarity: no, raw count 2271
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:29:34 [info] currentZPosition:0.0200
2025-04-29 06:29:35 [debug] Stopped at height 0.020 mm
2025-04-29 06:29:36 [debug] Stopped at height 0.018 mm
2025-04-29 06:29:36 [debug] Diagnostics for board 50:
2025-04-29 06:29:36 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:29:36 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,71.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,4.2%,66) CanRecv(3,nWait 1,0.1%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,23.1%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 100.1%
Owned mutexes:
Last reset 17:17:27 ago, cause: software
2025-04-29 06:29:36 [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
2025-04-29 06:29:36 [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
2025-04-29 06:29:36 [debug] Moves scheduled 32257, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 236, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=714, frequency (Hz): min=1304, max=15306
Sync err accum 70, peak jitter -2/3, peak Rx delay 173, resyncs 0/0, next timer interrupt due in 3 ticks, enabled, CC0 mismatch!!, next step interrupt due in 606210369 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature
2025-04-29 06:29:36 [debug] Driver 0: pos -9627, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 20686, writes 0 timeouts 0
2025-04-29 06:29:36 [debug] Last sensors broadcast 0x00000000 found 0 248 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 86, 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 441, adv 36300/37109
2025-04-29 06:29:36 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2278
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10550, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4705, no error
Lin: Encoder reverse polarity: no, raw count 2279
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:29:36 [info] currentZPosition:0.0185
2025-04-29 06:29:36 [debug] Stopped at height 0.018 mm
2025-04-29 06:29:37 [warn] Error: G30: Probe already triggered at start of probing move
2025-04-29 06:29:37 [debug] Diagnostics for board 50:
2025-04-29 06:29:37 [debug] Duet EXP1HCL rev 1.0a or earlier firmware version 3.6.0-rc.2+5 (2025-04-28 18:45:34)
Bootloader ID: SAME5x bootloader version 2.4 (2021-12-10)
All averaging filters OK
2025-04-29 06:29:37 [debug] Never used RAM 51300, free system stack 160 words
Tasks: EncCal(1,nWait 6,0.0%,469) Move(3,nWait 7,0.0%,99) CLSend(3,nWait 6,0.0%,149) TMC(4,nWait 6,70.3%,313) HEAT(2,nWait 6,0.1%,105) CanAsync(5,nWait 4,5.5%,66) CanRecv(3,nWait 1,0.0%,31) CanClock(5,nWait 1,0.0%,63) MAIN(1,running,22.6%,249) IDLE(0,ready,0.0%,29) AIN(2,nWait 2,1.4%,255), total 99.8%
Owned mutexes:
Last reset 17:17:29 ago, cause: software
2025-04-29 06:29:37 [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
2025-04-29 06:29:37 [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
2025-04-29 06:29:37 [debug] Moves scheduled 32262, hiccups 0 (0.00/0.00ms), segs 3, step errors 0 (types 0x0), maxLate 0 maxPrep 235, ebfmin 0.00 max 0.00
Phase step loop runtime (us): min=6, max=556, frequency (Hz): min=1356, max=15625
Sync err accum 81, peak jitter 1/2, peak Rx delay 179, resyncs 0/0, no timer interrupt scheduled, next step interrupt due in 605089521 ticks, disabled
VIN voltage: min 24.4, current 24.4, max 24.4
V12 voltage: min 12.2, current 12.2, max 12.2
MCU temperature: min 30.8C, current 34.0C, max 3
2025-04-29 06:29:37 [debug] Driver 0: pos -9551, 10060.2 steps/mm, ok, SG min n/a, mspos 936, reads 17723, writes 0 timeouts 0
2025-04-29 06:29:37 [debug] Last sensors broadcast 0x00000000 found 0 243 ticks ago, 0 ordering errs, loop time 0
CAN messages queued 86, send timeouts 0, received 23, lost 0, ignored 0, errs 0, boc 0, free buffers 38, min 38, error reg 0
dup 0, oos 0/0/0/0, rxMotionDelay 375, adv 36014/37148
2025-04-29 06:29:37 [debug] Closed loop driver 0 mode: closed loop, pre-error threshold: 7.50, error threshold: 50.00, encoder type linearComposite, position 2261
Shaft: Encoder reverse polarity: yes, full rotations 3, last angle 10086, minCorrection=-15.4, maxCorrection=10.9, agc 16, mag 4707, no error
Lin: Encoder reverse polarity: no, raw count 2260
Tuning mode: 0, tuning error: 0, collecting data: no
Accelerometer: none
I2C bus errors 0, naks 0, contentions 0, other errors 0
2025-04-29 06:29:38 [info] currentZPosition:0.0260
2025-04-29 06:29:38 [warn] Error: G30: Probe already triggered at start of probing move
2025-04-29 06:29:38 [warn] Error: G30: Probe already triggered at start of probing move
2025-04-29 06:29:38 [warn] Error: G30: Probe already triggered at start of probing move
2025-04-29 06:29:38 [warn] Error: G30: Probe already triggered at start of probing move
2025-04-29 06:29:39 [warn] Error: G30: Probe already triggered at start of probing move
2025-04-29 06:29:39 [debug] Done printing file
2025-04-29 06:29:39 [debug] Done printing file
2025-04-29 06:29:39 [warn] Cancelled printing file 0:/gcodes/NV00044073A.g, print time was 0h 48m
2025-04-29 06:29:39 [debug] Unable to get consistent touch location: {0.0260,0.0285,0.0311,0.0337,0.0363,0.0389,0,0,0,0} contactSpread: -0.0128 FiveContact Accept: 0.0025400
2025-04-29 10:10:57 [warn] Ethernet running, IP address = 192.168.1.14
2025-04-29 10:11:06 [warn] HTTP client 192.168.1.2 login succeeded (session key 2298521768)
2025-04-29 10:11:30 [debug] Z probe 0: current reading 1000, threshold 500, trigger height 0.000, offsets X0.0 Y0.0 A0.0 B0.0
2025-04-29 10:11:43 [debug] Z probe 0: current reading 1000, threshold 500, trigger height 0.000, offsets X0.0 Y0.0 A0.0 B0.0
2025-04-29 10:11:52 [debug] Board 50 resetting
2025-04-29 10:11:54 [warn] Error: Expansion board 50 reconnected
2025-04-29 10:12:36 [debug] Z probe 0: current reading 1000, threshold 500, trigger height 0.000, offsets X0.0 Y0.0 A0.0 B0.0
2025-04-29 10:12:42 [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 3397352305)
2025-04-29 10:12:50 [warn] Date and time set at power up + 00:00:07
2025-04-29 10:13:17 [debug] Z probe 0: current reading 0, threshold 500, trigger height 0.000, offsets X0.0 Y0.0 A0.0 B0.0